CONTROL DEVICE AND TEACHING METHOD FOR SEVEN-SHAFT MULTI-JOINT ROBOT

摘要

A control system and teaching method for a seven-axis articulated robot are provided, which system and method are capable of easily grasping a motion trajectory of the whole robot and thereby performing proper teaching during teaching operation. The control system includes a setting device (21) for setting a specified plane (Pz) in a teaching mode for teaching a seven-axis articulated robot (1); a control unit (23) for controlling the movement of the seven-axis articulated robot (1) so as to restrict a motion trajectory of an elbow portion (E) within the plane (Pz) set by the setting device (21); and a computing unit (22) for performing inverse transform operation to calculate the pivot angle of each pivot axis (A1 to A7) based on a change in a position of the hand end (11), setting the restriction of the movement of the elbow portion (E) as a constraint condition, when the position for the hand end (11) is taught.