Robot control device, robot control method, and recording medium storing robot control program

A robot control method in which a computer executes processing, the processing comprising:

• a first acquisition process of acquiring path information relating to a path of a robot and speed information relating to a speed of the robot moving on the path;
• a second acquisition process of acquiring specification information relating to a specification of the robot;
• a determination process of determining a segment at which an action time of the robot is shortened, whether or not a waypoint is added on the path, based on the path information, the speed information, and the specification information, wherein the determination unit compares a first action time of the robot, computed from a speed profile expressed by the speed information, against a second action time of the robot, computed from a combined profile resulting from combining speed profiles expressed by speed information of respective segments formed by dividing the path by adding a waypoint, and determines the path to be a segment giving rise to shorter action times of the robot in a case in which the second action time is shorter than the first action time, the determination unit determines, for a segment determined to have a shorter action time of the robot, whether or not a segment for which the path is correctable is included, wherein the path is divided into a first segment until a workpiece is gripped, a second segment in which the gripped workpiece is carried to a placement location and a third segment in which the gripped workpiece is placed, the second segment being the segment in which the path can be corrected;
• a correction process of correcting the path of the robot so as to reduce an inertia of the robot in a segment at which an action time of the robot is shortened based on the path information, the speed information, and the specification information, wherein the correction unit corrects the path only for segments determined to be segments for which the path is correctable, namely the second segment, wherein the correction unit is configured to add a waypoint to the path of the robot at a position such that the inertia of the respective shafts of the robot is reduced;
• a computation process of computing a load acting on a joint of the robot on a corrected path based on the path information, the speed information, and the specification information;
• and
• an adjustment process of adjusting a control amount for controlling an acceleration of the robot joint such that the load computed by the computation process satisfies a target load.

A non-transitory recording medium storing a robot control program that is executable by a computer to perform processing, the processing comprising:

• a first acquisition unit that acquires path information relating to a path of a robot and speed information relating to a speed at which the robot moves on the path;
• a second acquisition unit that acquires specification information relating to a specification of the robot;
• a determination process of determining a segment at which an action time of the robot is shortened, whether or not a waypoint is added on the path, based on the path information, the speed information, and the specification information, wherein the determination unit compares a first action time of the robot, computed from a speed profile expressed by the speed information, against a second action time of the robot, computed from a combined profile resulting from combining speed profiles expressed by speed information of respective segments formed by dividing the path by adding a waypoint, and determines the path to be a segment giving rise to shorter action times of the robot in a case in which the second action time is shorter than the first action time, the determination unit determines, for a segment determined to have a shorter action time of the robot, whether or not a segment for which the path is correctable is included, wherein the path is divided into a first segment until a workpiece is gripped, a second segment in which the gripped workpiece is carried to a placement location and a third segment in which the gripped workpiece is placed, the second segment being the segment in which the path can be corrected;
• a correction process of correcting the path of the robot so as to reduce an inertia of the robot in a segment at which an action time of the robot is shortened based on the path information, the speed information, and the specification information, wherein the correction unit corrects the path only for segments determined to be segments for which the path is correctable, namely the second segment, wherein the correction unit is configured to add a waypoint to the path of the robot at a position such that the inertia of the respective shafts of the robot is reduced;
• a computation unit configured to compute a load acting on a joint of the robot on a corrected path based on the path information, the speed information, and the specification information;
• and
• an adjustment unit configured to adjust a control amount for controlling an acceleration of the robot joint such that the load computed by the computation unit satisfies a target load.