WORK TRANSFER APPARATUS

摘要

A position of a control point is kept by correcting warping caused by inertia moment operated while an arm of a robot is extending and retracting. In a control device (104) for controlling operation of the robot composed of a plurality of shafts, warping caused by inertia moment generated at the time of extending and retracting the arm by following an operation instruction given by an operation program previously stored in the storage means and an operation instruction given from an instructing means (106) arranged in the control device (104), is corrected by degree of freedom of the robot operated in the direction opposite to the warping direction.