Articulated robot and method for controlling the same

摘要

An articulated robot comprises a control unit including: a track information storage unit which stores track information corresponding to a combination of a start point and an end point; a setting unit which sets a current position and a target position of an arm distal end as the start point and the end point; and an operation command generation unit which generates an operation command based on track information corresponding to a combination of the set start point and the set end point (corresponding track information). If the corresponding track information is not stored but related track information corresponding to a combination of a start point and an end point having a predetermined relationship with a combination of the set start point and the set end point is stored in the track information storage unit, the operation command generation unit generates the operation command based on the related track information.

主权项

1. An articulated robot comprising:
an arm constituted by a plurality of rotatably connected arm elements; and a control unit configured to perform position control of an arm distal end by outputting an operation command to a driving unit that drives the arm elements, wherein the control unit includes
a track information storage unit configured to store track information that corresponds to a combination of which any of a plurality of destinations to which the arm distal end is moved is set to be a start point and any other of the destinations is set to be an end point, and that includes position information of each of the arm elements arranged in time series,a setting unit configured to set a current position and a target position of the arm distal end as the start point and the end point, andan operation command generation unit configured to generate the operation command based on the track information corresponding to the combination of the start point and the end point set by the setting unit, and wherein, if the track information corresponding to the combination of the start point and the end point set by the setting unit is not stored but related track information corresponding to a combination of a start point and an end point having a predetermined relationship with the combination of the start point and the end point set by the setting unit is stored in the track information storage unit, the operation command generation unit generates the operation command based on the related track information.