MOTION TRAJECTORY GENERATION DEVICE, MOTION TRAJECTORY GENERATION METHOD, ROBOT CONTROLLER, AND ROBOT CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To provide a motion trajectory generation device that calculates a motion trajectory of a work holder in a robot coordinate system based on constraint conditions in a work coordinate system, and to provide a robot controller using the same.;SOLUTION: A device includes: a motion trajectory generation unit 32 for generating a motion trajectory of a second object workpiece 14 based on assembly constraint conditions in a work coordinate system on the basis of a position and orientation of a first object workpiece 12; a third coordinate transformation unit 39 for converting a motion trajectory of the second object workpiece in the work coordinate system into the motion trajectory of the second object workpiece in the robot coordinate system, by using the motion trajectory of the first object workpiece in the robot coordinate system; and a second coordinate transformation unit 36 for measuring a relative positional relationship between the second object workpiece 14 held by the work holder 4 and the work holder 4 by using a position and orientation measuring device 5, and for transforming the motion trajectory of the second object workpiece 14 in the robot coordinate system into the motion trajectory of the work holder in the robot coordinate system by using the measurement result.;COPYRIGHT: (C)2013,JPO&INPIT