Trajectory control apparatus and trajectory control method for intra- planar multifreedom SCARA type of robot, and computer-readable recording medium with trajectory control program for intra-planar multifreedom SCARA type of robot stored therein

摘要

In a trajectory control method for an intra-planar multifreedom SCARA type of robot, a positional increment for an arm tip is computed for a linear interpolating operation through the expression described below. Namely, the expression is Vn=L.sub.1 sin(. sub.2). multidot.J.sub.1, wherein Vn indicates a positional increment of an arm tip; L.sub.1 indicates a length of a first arm; .sub.2 indicates an angle of a second joint; and J.sub.1 indicates an angular velocity of a first joint (instructed angular velocity) specified by a user.