Servo control device, servo control method, and robot control device and robot control method using the same

摘要

PROBLEM TO BE SOLVED: To uniform algorithm concerning control for teaching or setting a controlled system so as to pass it through a designated point while mainly paying attention only on the position of the designated point and control for teaching or setting the controlled system so as to move it along a designated course. SOLUTION: At a servo controller 1, a control command value for moving the specified part of displacement quantity or the controlled system to the position of a point on a designated course in the case of moving the controlled system to the designated point is generated from a commanding means 2 to an acceleration/ deceleration pattern generating means 3. The acceleration/deceleration pattern generating means 3 decides the value of a parameter for time base elongation/contraction decided from the control command value, generates an acceleration/deceleration curve or a control curve showing the timewise change of linear velocity by changing the height of peak or width in the direction of time base concerning the linear velocity change related to the curved line length of the acceleration/deceleration curve or designated course based on this value of the parameter and the control command value and sends a control signal according to this curve to a servo system 4 (controlled system).