Robot control apparatus and control method thereof

A robot control interpolator used with a robot control apparatus, comprising:

• a first acceleration/deceleration processor to receive a first rough velocity signal, and to perform acceleration and deceleration processes to the first rough velocity signal to provide a first velocity signal;
• a second acceleration/deceleration processor to receive a second rough velocity signal, and to perform acceleration and deceleration processes to the second rough velocity signal to provide a second velocity signal;
• and
• an inverse kinematics processor to transform the velocity signals received from the first and second acceleration/deceleration processors into first and second joint velocity signals for a robot, respectively.

A control method of a robot control apparatus to control an operation path of a robot, the control method comprising:

• outputting one or more rough velocity signals according to one or more input commands;
• allowing a plurality of acceleration/deceleration processors to receive the one or more rough velocity signals and to perform acceleration and deceleration processes in sequence, and to output one or more velocity signals;
• transforming the one or more velocity signals received from the plurality of acceleration/deceleration processors into a joint velocity signal for the robot;
• and
• controlling the robot according to the joint velocity signal.

A method to control an operation path of a robot, the control method comprising:

• receiving a first rough velocity signal in a first acceleration and/or deceleration processor;
• performing acceleration and/or deceleration processes to the first rough velocity signal to provide a first velocity signal;
• receiving a second rough velocity signal in a second acceleration and/or deceleration processor;
• performing acceleration and/or deceleration processes to the second rough velocity signal to provide a second velocity signal;
• and
• transforming the first and second velocity signals into first and second joint velocity signals for a robot, respectively.