ROBOT OPERATION SCHEDULING DEVICE, CONTROLLER AND METHOD FOR GENERATING OPTIMUM TRACK

PURPOSE:To generate the optimum track of a robot arm at a high speed by using table data for which the intermediate calculated value of calculation data is calculated off line beforehand or the calculation data of the operating cost of the robot arm. CONSTITUTION:In an off-line table data generation means 7, the physical parameters of the respective links of the robot arm stored in a physical parameter storage means 9 are referred to, the intermediate calculation value of data to be calculated in a track generation means 4 are calculated off line beforehand and then, they are stored in a table data storage means 8. In a robot command generation means 2, an operation instruction is generated corresponding to input from an input/output means 1. In a robot command interpretation means 3, the starting point, ending point and movable area of the track of the robot arm are generated from the operation instruction. In the track generation means 4, the table data of the table data storage means 8 and the physical parameters of the respective links of the robot arms of the physical parameter storage means 9 are referred to and the optimum track is obtained at a high speed.