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=L1xsin( theta 2)xJ1, wherein Vn indicates a positional increment of an arm tip; L1 indicates a length of a first arm; theta 2 indicates an angle of a second joint; and J1 indicates an angular velocity of a first joint (instructed angular velocity) specified by a user.