| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device which allows high-speed movement with no excessive load on a link when a link operation device is changed in posture at a wide angle.SOLUTION: A control device 1 changes posture of a link hub 15 at a tip end side by driving, with an actuator 3, respective arms 11a... which are a link on a base end side of a plurality of link mechanisms 11-13. During a series of operations, when the link hub 15 on the tip end side is changed in posture at an angle which is a predetermined amount or larger, a relay posture setting means 42 is provided which sets a relay point between a start point and an end point of the arms 11a... so as to relax interference of 3-axis arms 11a... A posture change control means 41 performs position control so as to pass the set relay points at the same time. |
