A time-optimal trajectory generation method, for a robotic manipulator having a transport path with at least one path segment, comprising generating a forward time-optimal trajectory of the manipulator along the at least one path segment from a start point of the at least one path segment towards an end point of the at least one path segment, generating a reverse time-optimal trajectory of the manipulator along the at least one path segment from the end point towards the start point of the at least one path segment, and combining the time-optimal forward and reverse trajectories to obtain a complete time-optimal trajectory, where the forward and reverse trajectories of the at least one path segment are blended together with a smoothing bridge joining the time-optimal forward and reverse trajectories in a position-velocity reference frame with substantially no discontinuity between the time-optimal forward and reverse trajectories.

An operation program creating method comprises performing, with a computer, a speed setting step that creates an operation program of a robot in such a manner that speeds at a plurality of teaching points are set, and in the speed setting step, the speed at a specified teaching point on the designed movement path is set based on a position change or a posture change in a plurality of teaching points including the specified teaching point, a teaching point which is upstream of the specified teaching point on the designed movement path, and/or a teaching point which is downstream of the specified teaching point on the designed movement path.

A time-optimal trajectory generation method, for a robotic manipulator haying a transport path with at least one path segment, comprising generating a forward time-optimal trajectory of the manipulator along the at least one path segment from a start point of the at least one path segment towards an end point of the at least one path segment, generating a reverse time-optimal trajectory of the manipulator along the at least one path segment from the end point towards the start point of the at least one path segment, and combining the time-optimal forward and reverse trajectories to obtain a complete time optimal trajectory, where the forward and reverse trajectories of the at least one path segment are blended together with a smoothing bridge joining the time-optimal forward and reverse trajectories in a position-velocity reference frame with substantially no discontinuity between the time-optimal forward and reverse trajectories.

A time-optimal trajectory generation method, for a robotic manipulator haying a transport path with at least one path segment, comprising generating a forward time-optimal trajectory of the manipulator along the at least one path segment from a start point of the at least one path segment towards an end point of the at least one path segment, generating a reverse time-optimal trajectory of the manipulator along the at least one path segment from the end point towards the start point of the at least one path segment, and combining the time-optimal forward and reverse trajectories to obtain a complete time optimal trajectory, where the forward and reverse trajectories of the at least one path segment are blended together with a smoothing bridge joining the time-optimal forward and reverse trajectories in a position-velocity reference frame with substantially no discontinuity between the time-optimal forward and reverse trajectories.

A processing method includes one or both of a first processing and a second processing for extracting a reference teaching point from teaching points. The first processing extracts a reference teaching point having a difference between a direction vector from a teaching point preceding the reference teaching point to the reference teaching point, and a direction vector from the reference teaching point to a teaching point succeeding the reference teaching point, being equal to or more than a threshold. The second processing extracts the reference teaching point having one of a difference between a posture at a teaching point preceding the reference teaching point and a posture at the reference teaching point, and a difference between the posture at the reference teaching point and a posture of a teaching point succeeding the reference teaching point, being equal to or more than a threshold.