ROBOT CONTROL METHOD

PROBLEM TO BE SOLVED: To trace a proper moving path of a robot with a prescribed limit speed without waste of time by periodically inputting the shift value of every shaft to describe the interpolation points generated in an interpolation control mode, periodically carrying out the processing related to the limit speed of every shaft, and periodically outputting the shift value of every shaft to the servo control system of every shaft in order to keep the limit speed of every shaft. SOLUTION: The shift value of every shaft that is outputted to a servo control system in every processing cycle is defined as an un-outputted component with no conflict with the limit speed of every shaft (1), with observance of the cooperation conditions to all shafts (2) and with observation of the limit speed of every shaft (3). Such shift value of every shaft is outputted with preference in the subsequent processing cycles. If the shift value is directly sent to the servo control system while the increment of θi exceeds the limit value M by δi in a section P1P2, the conflict is caused with the limit speed of a shaft (i). Under such conditions, the limit value M is outputted as the shift value of the shaft (i) in a processing cycle where the shift value of the section P1P2 is received. As a result, the shift target point of P1 is not set at P2 but at Q2 and both δi and δj are treated in the subsequent processing cycles.