Velocity-variation minimization control method for robot

A velocity-variation minimization control method for a robot comprising the steps of:

• preparing cubic equations expressing positions of an effector of a robot and quadratic equations expressing velocity of said effector, said quadratic equations obtained by differentiating said cubic equations, said cubic and quadratic equations being functions with respect to time;
• obtaining solutions for coefficients of said equations by substituting a position vector for an operation start point, a velocity vector for said operation start point, a position vector for an operation end point, a velocity vector for said operation end point, and a provisional movement time for moving from said operation start point to said operation end point into said equations;
• obtaining a sum of squares of differences between a velocity obtained using said coefficients and a target velocity;
• performing convergence calculations to obtain a value of said movement time that minimizes said sum of squares;
• and
• controlling said robot by moving said effector along a path using converged movement time.