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 control is capable, a shaking of a tool tip of a robot because of the operation of a displacement axis to suppress. The robot controller is followed by a movement calculation part comprising an amount of a movement of the displacement axis and an amount of a movement of the tool tip of each time calculated when the displacement axis in accordance with an instruction is operated, and a correcting member a, a command value of the 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 is.