Robot controller, robot control method, and storage medium storing robot control program

A robot control method for controlling an axis motor that drives a corresponding one of a plurality of axes that moves joints of a robot, the robot control method comprising:

• acquiring robot information and end point information, the robot information being information on the robot, the end point information including information on an action start point at which a specific position of the robot starts an action and information on an action goal point at which the specific position of the robot ends the action, and a storage step of storing obstacle information that is information on an obstacle with respect to the robot;
• generating, on the basis of the robot information and the end point information, a first action command as an action command for the axis motor, the first action command minimizing a first action time, the first action time being an action time of movement when the specific position of the robot is moved from the action start point to the action goal point without considering the obstacle;
• selecting, from among the axes, an axis having a longest action time when the action is performed in accordance with the first action command, the selected axis being a major axis;
• and
• generating a trajectory that avoids a clash between the robot and the obstacle, wherein
• the first action command includes another axis command and a major axis command, the other axis command being an action command for an axis other than the major axis, the major axis command being an action command for the major axis, and
• generating the trajectory includes:
• generating an action command different from the first action command and adjusting the other axis command so as to reduce a second action time, the second action time being an action time according to another axis command included in the generated action command;
• and
• outputting, to an axis motor control circuitry to control the axis motor, a second action command that includes the major axis command and the other axis command after adjustment and corresponds to a first trajectory when determining, on the basis of the obstacle information, that the first trajectory corresponding to the second action command is a trajectory that avoids a clash between the robot and the obstacle.

A non-transitory storage medium to store a robot control program for controlling an axis motor that drives a corresponding one of a plurality of axes that moves joints of a robot, the robot control program causing a computer to execute:

• acquiring robot information and end point information, the robot information being information on the robot, the end point information including information on an action start point at which a specific position of the robot starts an action and information on an action goal point at which the specific position of the robot ends the action, and a storage step of storing obstacle information that is information on an obstacle with respect to the robot;
• generating, on the basis of the robot information and the end point information, a first action command as an action command for the axis motor, the first action command minimizing a first action time, the first action time being an action time of movement when the specific position of the robot is moved from the action start point to the action goal point without considering the obstacle;
• selecting, from among the axes, an axis having a longest action time when the action is performed in accordance with the first action command, the selected axis being a major axis;
• and
• generating a trajectory that avoids a clash between the robot and the obstacle, wherein
• the first action command includes another axis command and a major axis command, the other axis command being an action command for an axis other than the major axis, the major axis command being an action command for the major axis, and
• generating the trajectory includes:
• generating an action command different from the first action command and adjusting the other axis command so as to reduce a second action time, the second action time being an action time according to another axis command included in the generated action command;
• and
• outputting, to an axis motor control circuitry to control the axis motor, a second action command that includes the major axis command and the other axis command after adjustment and corresponds to a first trajectory when determining, on the basis of the obstacle information, that the first trajectory corresponding to the second action command is a trajectory that avoids a clash between the robot and the obstacle.