| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot system for attaining energy-saving by necessarily minimizing energy input required for continuously executing reciprocating motion.SOLUTION: A robot control unit 5 sets resonance operable elastic values kand kas one target position elastic value in one target section (target finger positions 9β(9γ) in a work area 41 to a balance angle point Xe), and sets resonance operable elastic values kand kas the other target position elastic value in the other target section (a target finger position 9αin a work area 42 to the balance angle point Xe). A robot control unit 6 executes changeover control of the elastic values kand kso that the one target section becomes the one target position elastic value and the other target section becomes the other target position elastic value when passing through the balance angle point Xe in reciprocating motion between the work areas 41 and 42 of a robot 1.</p> |
