A robot control apparatus includes a section setter to set, on a straight line connecting a start point to an end point, an acceleration section until reaching a predetermined angular velocity, a constant velocity section in which the predetermined angular velocity is maintained, and a deceleration section in which the predetermined angular velocity is decreased, a segment setter to divide each of the acceleration section, the constant velocity section, and the deceleration section into a plurality of segments and to set segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of the segments of the reference point to each other, and when the reference point is moved in each of the segments according to point to point control, an angular velocity setter to set an angular velocity of each of the segments based on a variance in an angle of a joint which becomes maximum with respect to each of the segments in each of the acceleration section, the constant velocity section, and the deceleration section.

The present disclosure provides a motion control method and apparatus and a robot with the same. The method includes: obtaining a first rotational angle P.sub.1 of an output shaft of the servo currently at and a first time T.sub.1 for the output shaft of the servo to perform one rotation; obtaining a second rotational angle P.sub.2 for the output shaft of the servo to reach and a second time T.sub.2 for the output shaft of the servo to rotate from the first rotational angle P.sub.1 to the second rotational angle P.sub.2; calculating a motion curve B(t) of the output shaft of the servo based on the first rotational angle P.sub.1, the second rotational angle P.sub.2, the first time T.sub.1, and the second time T.sub.2; and controlling the servo to rotate according to the motion curve B(t). The present disclosure solves the instability in the gravity center of the robot.

A robot control apparatus includes a section setter to set, on a straight line connecting a start point to an end point, an acceleration section until reaching a predetermined angular velocity, a constant velocity section in which the predetermined angular velocity is maintained, and a deceleration section in which the predetermined angular velocity is decreased, a segment setter to divide each of the acceleration section, the constant velocity section, and the deceleration section into segments and to set segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of the segments of the reference point to each other, and an angular velocity setter to set, when the reference point is moved in each of the segments according to point to point control, an angular velocity of each of the segments based on a variance in angle that becomes maximum with respect to each of the segments in each of the acceleration section, the constant velocity section, and the deceleration section.

A robot control apparatus includes a section setter to set, on a straight line connecting a start point to an end point, an acceleration section until reaching a predetermined angular velocity, a constant velocity section in which the predetermined angular velocity is maintained, and a deceleration section in which the predetermined angular velocity is decreased, a segment setter to divide each of the acceleration section, the constant velocity section, and the deceleration section into a plurality of segments and to set segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of the segments of the reference point to each other, and when the reference point is moved in each of the segments according to point to point control, an angular velocity setter to set an angular velocity of each of the segments based on a variance in an angle of a joint which becomes maximum with respect to each of the segments in each of the acceleration section, the constant velocity section, and the deceleration section.

The present disclosure provides a motion control method and apparatus and a robot with the same. The method includes: obtaining a first rotational angle P.sub.1 of an output shaft of the servo currently at and a first time T.sub.1 for the output shaft of the servo to perform one rotation; obtaining a second rotational angle P.sub.2 for the output shaft of the servo to reach and a second time T.sub.2 for the output shaft of the servo to rotate from the first rotational angle P.sub.1 to the second rotational angle P.sub.2; calculating a motion curve B(t) of the output shaft of the servo based on the first rotational angle P.sub.1, the second rotational angle P.sub.2, the first time T.sub.1, and the second time T.sub.2; and controlling the servo to rotate according to the motion curve B(t). The present disclosure solves the instability in the gravity center of the robot.