| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot and a control device enabling a robot arm to efficiently operate when an operation region during clockwise rotation overlaps an operation region during counterclockwise rotation.SOLUTION: A robot 1 comprises: a base 10; an arm member 21 provided on the base 10 and rotating about a first rotational axis; an arm member 22 provided at the arm member 21 and rotating about a second rotation axis in the axial direction different from the axial direction of the first rotational axis; and a control device 50 setting "0" to a J1 flag indicating a rotation amount of the arm member 21 in a non-overlap region between a first region where the arm member 21 is rotatable when rotating clockwise and a second region where the arm member 21 is rotatable when rotating counterclockwise, and setting "1" to the J1 flag at least in part of an overlap region between the first region and the second region.SELECTED DRAWING: Figure 1 |
