A ROBOT CONTROLLER, A ROBOT UNIT AND A METHOD FOR CONTROLLING THE OPERATION OF A ROBOT UNIT

摘要

A robot controller (3) for controlling the operation of a robot unit (1). The robot unit comprises a plurality of robot arms (5a-c) that each comprises at least one motion mechanism (7a-d, 8) adapted to set the robot arm in motion, wherein a tool (4) of the robot unit is adapted to be moved along an operational path (2). The robot controller is adapted to determine the kinetic energy subjected to each motion mechanism of the robot arms (5a-c), and, on basis of the determined kinetic energies, control the speed of each motion mechanism, while maintaining a movement of the tool along the operational path, so that said kinetic energy does not exceed a certain level that is the same for at least two motion mechanisms.