ROBOT CONTROL DEVICE

PROBLEM TO BE SOLVED: To determine upper limits of maximum speeds of linear interpolation and circular interpolation with respect to each operation while considering an allowance of a motor or a transmission mechanism, so as to increase the speed of the operation. SOLUTION: By using a reference speed calculating means, reference speed in each direction in each shaft or in a rectangular coordinate system of current operation is calculated. An acceleration and deceleration time/speed limit parameter determination means responds to rectangular coordinate values and joint displacement at an acceleration start point and a deceleration end point, and calculates the shortest acceleration time and deceleration time within a range satisfying constraint of an allowable maximum value of drive torque of a motor driving each shaft with respect to each operation, action torque of the transmission mechanism of each shaft and an allowable maximum value of a moment. An operation parameter correction means corrects acceleration time and deceleration time. A command curve generation means generates a command curve based on the corrected data. COPYRIGHT: (C)2008,JPO&INPIT