MOVEMENT CONTROLLER OF MANIPULATOR AND MOVEMENT CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To certainly prevent interference with an obstacle, and to move a work tool by inward turning on the optimal inward turning trajectory for shortening tact time as much as possible.SOLUTION: When an inward turning trajectory Lis set in a movement trajectory for moving a work tool from an extraction start position RB to a top position ET, an inward turning range ARincluding a bottom position EB is set in a lower space Sof a cassette 200. Intersections P, Pbetween the inward turning range ARand the movement trajectories L, Lare calculated, movement time Tfor moving the work tool from the intersection Pto the bottom position EB, and movement time Tfor moving the work tool from the bottom position EB to the intersection Pare calculated, and the smaller one of the movement times T, Tis set as movement time Tof the inward turning trajectory L. An inward turning start position and an inward turning end position of the inward trajectory Lare set from movement time Tand speed control characteristics of the movement trajectories L, L.