Method of generating path of multiaxial robot and control apparatus for the multiaxial robot

An apparatus for controlling drive of a multiaxial robot provided with a plurality of movable axes composed of a plurality of links and a plurality of joints, comprising:

• reading means for reading a start point and an end point in a three-dimensional space, the start point and end the point being given to the robot;
• first generating means for generating a pass point between the start point and the end point in the space;
• first producing means for producing a path connecting the start point, the pass point and the end point;
• calculating means for calculating, based on the path, a velocity pattern of the end effector under a Bobrow's method, the path being accompanied by a parameter indicting the path;
• second producing means for producing a time duration which is necessary for the end effector to move along the path;
• comparing means for comparing a currently produced time duration with a previously produced time duration to check that a difference between the time durations is below a determined threshold;
• updating means for updating the pass point when the difference is not below the threshold;
• repeating means for repeating the first producing means, the calculating means, the second producing means, and the comparing means until the difference becomes lower than the threshold;
• providing means for providing a current path to the robot when the difference is below the predetermined threshold;
• and
• controlling means for controlling drive of the plurality of movable axes based on the generated path,
• wherein the calculating means comprises,
• first converting means for converting the parameter showing the path into a position of the end effector in the space, and
• second converting means for converting the position of the end effector in the space into an angle of each of the joints used for controlling each joint.