초록 ▼

There are provided a parameter storage part for storing monitor point information, a locus generation part for generating motions of the support, each joint point, and the like based on the movement command, a control point speed control part for obtaining speed of the control point such as the supp

There are provided a parameter storage part for storing monitor point information, a locus generation part for generating motions of the support, each joint point, and the like based on the movement command, a control point speed control part for obtaining speed of the control point such as the support, each joint point, and the like, a monitor point speed control part for obtaining speed of the monitor point generated from motion speed of the control point, and a motion command part for selecting the maximum speed among the speed of the control point and the speed of the monitor point to compare the maximum speed with the command speed and changing and controlling the speed of the control point to the command speed when the maximum speed exceeds the command speed.

대표청구항 ▼

What is claimed is: 1. A robot control apparatus comprising: an input section for inputting and specifying a speed command value of a robot and position information of a monitor point; a parameter storage section for storing the speed command value of the robot and the position information of the

What is claimed is: 1. A robot control apparatus comprising: an input section for inputting and specifying a speed command value of a robot and position information of a monitor point; a parameter storage section for storing the speed command value of the robot and the position information of the monitor point; a locus generation part for generating a movement command for driving each joint part based on a movement command of the robot; a control point speed control part for obtaining movement speed of each joint part as a control point based on the movement command from the locus generation part; a monitor point speed control part for obtaining motion speed of the monitor point based on the motion speed of each control point from the control point speed control part and the position information of the monitor point stored in the parameter storage section; a motion command part for selecting the maximum motion speed among motion speed of each control point and the motion speed of the monitor point as the maximum motion speed to compare the maximum motion speed with the speed command value and changing and outputting the movement command so that the motion speed of the control point or the monitor point of the maximum motion speed becomes the speed command value or lower when the maximum motion speed exceeds the speed command value; and a driving control part for driving the robot based on the motion speed outputted from the motion command part. 2. The robot control apparatus according to claim 1, wherein the maximum distance to bidirectional arm ends when viewed from the joint part and an angle are specified as the information of the monitor point. 3. The robot control apparatus according to claim 1, wherein a region of a transferred article is specified as the information of the monitor point. 4. A robot control apparatus comprising: an input section for inputting and specifying a speed command value of a robot and position information of a monitor point; a parameter storage section for storing the speed command value of the robot and the position information of the monitor point; a locus generation part for generating a movement command for driving each joint part based on a movement command of the robot; a control point speed control part for obtaining movement speed of each joint part as a control point based on the movement command from the locus generation part; a monitor point speed control part for obtaining motion speed of each monitor point accompanied with movement speed of each control point based on the motion speed of each control point obtained from the control point speed control part and the position information of the monitor point stored in the parameter storage section and further generating movement speed of the monitor point accompanied with motions of the plurality of joints by combining the movement speed of each monitor point to obtain combined motion speed; a motion command part for selecting the maximum motion speed among motion speed of each control point and the motion speed of the monitor point as the maximum motion speed to compare the maximum motion speed with the speed command value and changing and outputting the movement command so that the motion speed of the control point or the monitor point of the maximum motion speed becomes the speed command value or lower when the maximum motion speed exceeds the speed command value; and a driving control part for driving the robot based on the motion speed outputted from the motion command part. 5. The robot control apparatus according to claim 4, wherein the maximum distance to bidirectional arm ends when viewed from the joint part and an angle are specified as the information of the monitor point. 6. The robot control apparatus according to claim 4, wherein a region of a transferred article is specified as the information of the monitor point. 7. A robot control apparatus having a rotary shaft, comprising: an input section for inputting and specifying a speed command value of a robot, a rotational speed command value of the rotary shaft of the robot, and position information of a monitor point; a parameter storage section for storing the speed command value of the robot, the rotational speed command value of the rotary shaft, and the position information of the monitor point; a locus generation part for generating a command for rotating and driving the rotary shaft based on the rotational movement command value of the rotary shaft of the robot; a control point speed control part for obtaining rotational speed of the rotary shaft based on the rotational movement command from the locus generation part; a monitor point speed control part for obtaining movement speed of the monitor point based on the rotational speed of the rotary shaft from the control point speed control part and the information of the monitor point stored in the parameter storage m section; a motion command part for changing and outputting the rotational movement command so that the movement speed of the monitor point becomes the speed command value or lower when the movement speed of the monitor point exceeds the speed command value; and a driving control part for driving the rotary shaft of the robot based on a motion speed outputted from the motion command part.