Abstract: In a multiaxial robot, a path along which the end effector of the robot moves in the shortest time duration is generated. The robot includes a first link and a second link positioned closer to an end effector than the first link. Start and end points are specified, and velocity patterns are generated for joints driving the first and second links based on the specified start end points. The velocity patterns enable a movement of the second link to cause i) a reaction for increasing an acceleration force generated by the first joint when the end effector is started to be moved from the start point toward the end point, and ii) a reaction for increasing a deceleration force generated by the first joint when the end effector is stopping to the end point.

Abstract: A path is generated for an end effector arranged at a top of links of a multiaxial robot, where the end effector is moved along the path from a start point thereof to an end point thereof. In generating the path, the start and end points are positionally specified in the real space, and initial pass points are also generated between the start and end points. Coordinate positions of both specified start and end points and generated initial pass points are converted to angles of the respective axes of the joints. Based on the start and end points and initial pass points, which have been converted to the joint angle space, the path is generated which enables the end effector to be moved in the shortest time from its start point to its end point, during the initial pass points are changed repeatedly for generating the path.

Abstract: A path is generated for an end effector arranged at a top of links of a multiaxial robot, where the end effector is moved along the path from a start point thereof to an end point thereof. In generating the path, the start and end points are positionally specified in the real space, and initial pass points are also generated between the start and end points. Coordinate positions of both specified start and end points and generated initial pass points are converted to angles of the respective axes of the joints. Based on the start and end points and initial pass points, which have been converted to the joint angle space, the path is generated which enables the end effector to be moved in the shortest time from its start point to its end point, during the initial pass points are changed repeatedly for generating the path.