| 摘要 |
PROBLEM TO BE SOLVED: To provide an improved method of controlling a redundant robot.SOLUTION: A method for controlling a redundant robot arm comprises the steps of: selecting an application for performing a robotic process; and defining a constraint on motion of an arm. Then, an instruction set is generated based upon the selected application representing a path for a robot tool attached to the arm by operating the arm in one of a teaching mode and a programmed mode. Movement of the arm is controlled during the robotic process. A constraint algorithm is generated to keep a predetermined point on the arm at least one of being on, being near and avoiding a specific constraint in a robot envelope, and a singularity algorithm is generated to avoid occurrence of a singularity. |
