| 摘要 |
According to a method for controlling robots (1.1-1.3) having an axis arrangement body having one or more axes (q1, q2) having drive and, especially, holding brakes (S5, S80) closed by monitoring according to the present invention, the holding brakes are bilaterally symmetrical (S20, S30, S50, S60) with respect to an axial load and/ or are newly opened (S40, S45, S70, S75) during a predetermined period (tH,i, t′H,i) or are bilaterally symmetrical (S20, S30, S50, S60), and/or are opened during a predetermined period (tH,i, t′H,i) as it is opened before closed. |
