Trajectory control device and trajectory control method for a one-plane multi-degree-of-freedom SCARA robot, as well as, one-plane multi-degree-of-freedom SCARA robot computer-readable recording medium in which the trajectory control program was recorded of

摘要

PROBLEM TO BE SOLVED: To make the tip of an arm pass through a locking point without causing an excessive speed in a linear interpolation action of the arm by calcu lating the increment size of the arm tip position based on the result of multiplica tion of the 1st arm length and the 1st joint angular speed command value stored in a 1st joint angular speed storage part. ;SOLUTION: A locus controller has a memory 5 which includes a control program storage area 8, an arm tip position storage area 9, a 1st joint angular speed storage area 13, etc. The area 13 stores the 1st joint angular speed command value (designated angular speed) that is designated and inputted by a user via an input device 2 as a parameter. An arm tip position increment size calculation part is embodied when the control program stored in the area 8 is executed by a CPU 1 and calculates the increment size of the arm tip position in a linear interpolation action of an arm based on the result of multiplication of the 1st arm length, the sine of the 2nd joint angle and the 1st joint angular speed command value stored in the area 13, respectively.;COPYRIGHT: (C)1999,JPO