| 摘要 |
<p>PROBLEM TO BE SOLVED: To achieve high position follow-up accuracy in a multi-joint robot having upper arms of cantilever structure.SOLUTION: In a control method for controlling a multi-joint robot 2 having a tool 6 attached to its tip, a whole axial model considering an influence of all joint axes S1-S6 forming the multi-joint robot 2 is formed. The formed whole axial model is used for controlling the multi-joint robot 2. If the multi-joint robot 2 has cantilever structure in which a link member coupling a fourth axis and a fifth axis is asymmetric with respect to the fourth axis, the whole axial model is derived by assuming a roll-bent-roll structure to the S4 axis to the S6 axis.</p> |
