Robot controller

Abstract

A robot controller for an articulated robot, capable of controlling the articulated robot for the highly accurate high-speed movement of the work along a predetermined route. The robot controller a memory for previously storing functions for calculating position gains and speed gains for the joints of the articulated robot. A detecting operates to detect the present position and present speed of each of the joints during the operation of the articulated robot. A first calculating operation calculates a position gain and a speed gain for each joint on the basis of the present position and present speed of the joint detected by the detecting feature by using the functions stored in the memory. A second calculating operation the calculates instructions to be give to the actuators on the basis of position instructions, the present position and the present speed of the joints detected by the detecting feature, and the position gains and the speed gains calculated by the first calculating operation.

Dependencies are inferred from the claim text.