Industrial robot with parallel kinematics and method for controlling such a robot

摘要

The robot has an end effector (3) for holding a set of objects i.e. tools, where the end effector comprises an arm (10.3) with a set of connection parts and one of the connection parts is connected with the end effector at a connection point and connected with a first connection piece at another connection point. The connection parts are swingably supported at the connection points. A second connection piece is rotatable around a first rotational axis and a second rotational axis, and a third connection piece is rotatable around a third rotational axis. An independent claim is also included for a method for controlling an industrial robot.