| 摘要 |
PROBLEM TO BE SOLVED: To promptly settle vibration generated at a distal end when a robot arm having a plurality of joint parts is stopped.SOLUTION: A lock part is provided in at least one of a plurality of joint parts to allow the joint part to be fixed. Thus, since a vibration form at a distal end of a robot arm can be simplified by fixing some of a plurality of joint parts, the rest joint parts that are not fixed are controlled to allow generation of force for canceling out a vibration, and prompt settlement of the vibration can be achieved. As a result, a time period from stoppage of the robot arm to a start of work by a working unit at the distal end is shortened, and thereby working speed can be improved. |
