Robot control device and control method

A robot control apparatus, having an actuator, and changing a control value for the actuator for each predetermined control cycle for shifting a tool of a robot from a movement starting point to a movement ending point along a desired trajectory,

• the control apparatus, being applied in moving the tool along a synthesized trajectory where at least two operations are synthesized in the middle of the desired trajectory, and comprising:
• virtual operation starting/ending point searching means that searches a virtual operation starting/ending point such that a virtual operation ending point for a preceding operation to be performed before the tool getting into the synthesized trajectory matches a virtual operation starting point for a succeeding operation to be performed after the tool getting out of the synthesized trajectory;
• control value calculation means that calculates a control value for preceding operation for implementing the preceding operation from an initial value to a terminal value, and calculating a control value for succeeding operation for implementing the succeeding operation from an initial value to a terminal value such that the preceding operation is ended at the virtual operation starting/ending point, and the succeeding operation is started from the virtual operation starting/ending point temporally before the preceding operation being ended;
• actuator target control value calculation means that calculates, with a requirement that the initial value of the control value for succeeding operation be matched to the terminal value of the control value for preceding operation being added, a target control value for this time for the actuator in a section where the tool is moved along the synthesized trajectory, on the basis of a value obtained by adding a value of difference between a value for this time and a value for a previous time of the control value for preceding operation to a value of difference between a value for this time around control cycle and a value for a previous time of the control value for succeeding operation;
• and
• control means that controls the actuator such that the calculated target control value is attained, thereby the tool being moved along the synthesized trajectory.