| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot capable of easily teaching a movement position of the tip side of an arm, even when the tip side of the arm moves linearly, at a position not along a virtual line passing through a turning center of the arm with respect to a body part, when viewed from an axial direction of the turning of the arm.SOLUTION: An industrial robot 1 includes an arm 14 comprising a plurality of arm units 23, 24 connected so as to be relatively turnable, a plurality of motors for turning the plurality of arm units 23, 24, and a body part to which a base end side of the arm 14 is connected turnably. A control unit for controlling the industrial robot 1 switches: whether to control the industrial robot 1 with a cylindrical coordinate system using a turning center C1 of the arm 14 with respect to a body part as an original point, based on the attitude of the arm 14 and the operation direction of the arm 14; or whether to control the industrial robot 1 with a rectangular coordinate system using the turning center C1 of the arm 14 as an original point. |
