Robot control, the a jolting of the tool chip in the case of a robot is prevented, which is equipped with a displacement axis

摘要

A robot controller (3) for controlling a multi-joint robot (2), which is provided with a tool, on one arm end, and a displacement axis (4) is provided, which is caused, that the multiple universally robot direction - and forth, wherein the robot controller comprises:a movement calculation part (34), the an amount of a movement of the displacement axis and an amount of a movement of the tool tip (28) each time calculated when the displacement axis in accordance with an instruction is operated; anda correcting member (36), comprising a command value corrected so that at least one command value of a speed and acceleration to the displacement axis becomes smaller when the amount of the movement of the displacement axis is greater than a predetermined first threshold value, and the amount of the movement of the tool tip is smaller than a predetermined second threshold value (th2) is.