Multi-joint-robot controller.

摘要

A multi-joint robot controller is facilitated in its synchronous operation of a multi-joint robot and a rotary table for performing predetermined tasks by dexterously recognizing the position and attitude of the table with the present invention. The robot controller comprises: position detection means for detecting a position of an arm of the multi-joint robot as coordinates of a coordinate system assigned to the multi-joint robot; specific point detection means for detecting coordinates of a specific point (TA) on the rotary table, by the robot assigned coordinate system, making use of the position detection means, at any rotating angle of the rotary table; and table attitude calculation means for calculating an attitude of the rotary table on the basis of the robot assigned coordinate system from coordinates of a plurality of positions of the specific point detected by the specific point detection means.