CONTROL DEVICE FOR ROBOT

PURPOSE:To prevent the increase in the error due to useless correction and to correct when an error is finely increased for reproduction and the error becomes a prescribed value or above by correcting the orbit of an actual robot for a target orbit only when the error is in a prescribed range. CONSTITUTION:An interpolating arithmetic unit 2 reads teaching data stored in a teaching data storage device 1, interpolates them and prepares continuous target orbit data. An interpolating arithmetic unit 7 reads the correcting data from a correcting data storage device 6, interpolates the section between correcting data and a continuous signal is obtained. These both continuous signals are added, robot-driven 4, and respective joints of a robot 5 are servo-controlled. Here, when the error of a target orbit value and an actual orbit value is obtained by a subtracting computing element 8, an error signal is sampled 9 and sent to a learning control arithmetic unit 10. The conventional error data are stored into the device 10, a correcting signal for next reproduction is generated and stored in a next reproduction correcting data storage device 12. When the average error obtained by an average error arithmetic unit 11 is in the prescribed reference value range, the next reproduction data are corrected.