| 摘要 |
A multijoint robot has a multijoint link and a hand attached to the link. The robot comprises motion separating means and control means. The motion separating means separates, in terms of vectors, a motion of the hand into a first motional vector component along a given plane and a second motional vector component along a plane perpendicular to the given plane. The control means controls a motion of the hand based on an operation timing of the hand to be set on the first motional vector component and the second motional vector component.
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