CONTROLLER FOR MANIPULATOR DEVICE, METHOD FOR CONTROLLING MANIPULATOR DEVICE AND CONTROL PROGRAM FOR MANIPULATOR DEVICE

摘要

PROBLEM TO BE SOLVED: To easily perform direct teaching for a manipulator device.;MEANS FOR SOLVING THE PROBLEM: A controller for a manipulator device, which performs operation by driving intersection parts of connected plural move parts and intersection parts of a support part for supporting the move part and the move parts respectively, includes: a drive control part which controls a drive part for moving the move part; a locus information generation part which generates information concerning a locus formed by movement of the move part; and a speed information generation part which generates information concerning a speed when the move part is moved on the formed locus. The controller controls the drive part so that the move part is moved on the locus on the basis of information concerning the locus and information concerning the speed.;SELECTED DRAWING: Figure 11;COPYRIGHT: (C)2017,JPO&INPIT