Devices and methods for generating motion programs, computer programs, and motion programs

Abstract

Previously, the movements of multi-degree-of-freedom robots sometimes became unstable due to singularities, etc. The device for controlling the movement of a robot according to the present invention includes: an input receiving unit that receives input specifying one of a first control mode and a second control mode, wherein the first control mode implements multi-degree-of-freedom movements, and the second control mode implements movements with one or more fewer degrees of freedom than the first control mode, and presets conditions allowing the movement based on the second control mode; a movement command unit that causes the robot to execute the movement specified by the input received by the input receiving unit based on the first or second control mode; and a condition determination unit that determines whether the conditions are met when the movement command unit executes the movement based on the second control mode. If the condition determination unit determines that the conditions are not met, the movement command unit does not execute the movement based on the second control mode.

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