Robot control apparatus, robot control method, and program

A robot control method for moving a reference point of an articulated robot including a plurality of joints from a start point to an end point by a linear interpolation, the robot control method comprising:

• setting, on a straight line connecting the start point to the end point, an acceleration section in which the reference point is accelerated from the start point to reach a predetermined angular velocity, a constant velocity section in which the reference point is maintained at the predetermined angular velocity, and a deceleration section in which the reference point is decelerated from the predetermined angular velocity to reach the end point;
• dividing each of the acceleration section, the constant velocity section, and the deceleration section into a plurality of segments and setting segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of reference points corresponding to each of the acceleration section, the constant velocity section, and the deceleration section;
• and
• when the reference point is moved in each of the segments according to point to point control, setting an angular velocity of each of the segments based on a variance in angle of a main joint which has a greatest variance in angle among each of the segments in each of the acceleration section, the constant velocity section, and the deceleration section;
• wherein
• the point to point control controls a change in an angular velocity of the main joint to be equal to a change in angular velocity of the main joint along the straight line connecting the start point and the end point.

A non-transitory computer-readable medium including a program that is executable by a computer to perform a method of moving a reference point of an articulated robot including a plurality of joints from a start point to an end point by a linear interpolation, the method comprising:

• setting, on a straight line connecting the start point to the end point, an acceleration section in which the reference point is accelerated from the start point to reach a predetermined angular velocity, a constant velocity section in which the reference point is maintained at the predetermined angular velocity, and a deceleration section in which the reference point is decelerated from the predetermined angular velocity to reach the end point;
• dividing each of the acceleration section, the constant velocity section, and the deceleration section into a plurality of segments and setting segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of reference points corresponding to each of the acceleration section, the constant velocity section, and the deceleration section;
• and
• when the reference point is moved in each of the segments according to point to point control, setting an angular velocity of each of the segments based on a variance in angle of a main joint which has a greatest variance in angle among each of the segments in each of the acceleration section, the constant velocity section, and the deceleration section;
• wherein
• the point to point control controls a change in an angular velocity of the main joint to be equal to a change in angular velocity of the main joint along the straight line connecting the start point and the end point.