Realtime weaving motion control device and realtime weaving motion control method

PURPOSE: A device and a method for controlling real-time weaving motion are provided to control motion and movement of a robot when changes occur real-time situations. CONSTITUTION: A device for controlling real-time weaving motion comprises a pre-processor(10) and a working space motion combiner(20). The pre-processor determines a main transfer route of a robot in the working space and generates a unit motion comprising the main transfer route. The pre-processor generates weaving dynamically changing offset among continuous motion connected to the unit motion and generates one or more compensation displacements and compensation rotation amount determined by working environment. The working space motion combiner calculates position of the robot and the rotation amount in the working space according to one or more among the unit motion, the weaving, the compensation displacement, and the compensation rotation amount. [Reference numerals] (100) Continuous motion processing unit; (110) Route list storage unit; (120) Real-time route generator; (130) Route queue; (140) Route selector; (150) Working space continuous motion generator; (2) Robot mechanism unit; (20) Working space motion combiner; (200) Weaving motion processing unit; (210) Weaving list storage unit; (220) Real-time weaving generator; (230) Weaving queue; (240) Weaving selector; (250) Working space weaving motion generator; (30) Joint space converter; (300) Compensated position processing unit; (310) Compensated position generator; (40) Servo control unit; (A1) Continuous motion method selection information; (A2) Weaving motion method selection information; (AA) External situation; (B1) Continuous motion start/end information; (B2) Weaving start/end information; (SI) Weaving reference variable information; (ts) Weaving sampling time