Provided is an interpolation technique in which command values chronologically input can be interpolated without increasing a jerk and with less follow-up delay with respect to a command. A control unit (10) of a servo driver (20) has a function of sequentially generating, on the basis of four command values from x(k−2) to x(k+1), a kth interpolation function for calculating command values in a kth (≥3) time interval and a function of generating, as the kth interpolation function, a fifth-order equation with respect to time in which function values at a start time and an end time of the kth time interval match x(k) and x(k+1), respectively, and in which a second derivative value at a start time of the kth time interval matches a second derivative value at an end time of a (k−1)th time interval corresponding to a (k−1)th interpolation function.

A motion generation device may be for generating a movement for changing the robot from a first orientation to a second orientation, and include a first acquisition unit that acquires first orientation information that specifies the first orientation and second orientation information that specifies the second orientation, a second acquisition unit that acquires at least one priority item regarding the movement for changing from the first orientation to the second orientation, and a movement generation unit that generates a motion of the robot that includes a movement path along which the robot moves from the first orientation to the second orientation, based on the first orientation information, the second orientation information, and the priority item that were acquired.

A method for controlling a robot assembly having at least one robotic arm. The method includes determining a trajectory in the axis space of the robot assembly on the basis of a path having a plurality of previously specified Cartesian poses of at least one robot-assembly-fixed reference, and determining control values in the axis space on the basis of said trajectory. The robot assembly is controlled on the basis of the control values.

Provided is an interpolation technique in which command values chronologically input can be interpolated without increasing a jerk and with less follow-up delay with respect to a command. A control unit (10) of a servo driver (20) has a function of sequentially generating, on the basis of four command values from x(k2) to x(k+1), a kth interpolation function for calculating command values in a kth (3) time interval and a function of generating, as the kth interpolation function, a fifth-order equation with respect to time in which function values at a start time and an end time of the kth time interval match x(k) and x(k+1), respectively, and in which a second derivative value at a start time of the kth time interval matches a second derivative value at an end time of a (k1)th time interval corresponding to a (k1)th interpolation function.

Provided is a non-transitory computer-readable storage medium storing a program for causing a computer to execute a process, the process including: acquiring transfer times of straight transfer paths for a hand of a vertical articulated robot having at least four controlled axes; calculating a vector of each of the straight transfer paths; comparing a direction of a vector of a target path for which a transfer time is to be estimated with a direction of the vector of each of the straight transfer paths, and identifying, among the straight transfer paths, a transfer path most similar in vector direction to the target path; and estimating a transfer time of the target path, in accordance with a scalar quantity of a vector of an identified transfer path, a scalar quantity of the vector of the target path, and a transfer time of the identified transfer path.

A method for controlling a robot movement of a robot on the basis of a second trajectory is provided, wherein the second trajectory is calculated on the basis of a viscosity volume model.

A motion generation device may be for generating a movement for changing the robot from a first orientation to a second orientation, and include a first acquisition unit that acquires first orientation information that specifies the first orientation and second orientation information that specifies the second orientation, a second acquisition unit that acquires at least one priority item regarding the movement for changing from the first orientation to the second orientation, and a movement generation unit that generates a motion of the robot that includes a movement path along which the robot moves from the first orientation to the second orientation, based on the first orientation information, the second orientation information, and the priority item that were acquired.

Provided is a non-transitory computer-readable storage medium storing a program for causing a computer to execute a process, the process including: acquiring transfer times of straight transfer paths for a hand of a vertical articulated robot having at least four controlled axes; calculating a vector of each of the straight transfer paths; comparing a direction of a vector of a target path for which a transfer time is to be estimated with a direction of the vector of each of the straight transfer paths, and identifying, among the straight transfer paths, a transfer path most similar in vector direction to the target path; and estimating a transfer time of the target path, in accordance with a scalar quantity of a vector of an identified transfer path, a scalar quantity of the vector of the target path, and a transfer time of the identified transfer path.

A method for controlling a robot movement of a robot on the basis of a second trajectory is provided, wherein the second trajectory is calculated on the basis of a viscosity volume model.

The robot controller includes an operation command part configured to output an operation command so as to perform a first operation of conveying a workpiece from an initial position to a first position adjacent to the machine tool, a time prediction part configured to predict processing completion time of the workpiece based on a processing start signal output from a machine tool controller, a time length prediction part configured to predict time length necessary for the first operation, and a time determination part configured to determine start time of the first operation so that the first operation is completed at the processing completion time on the basis of the predicted processing completion time and time length necessary for the first operation.