| 摘要 |
PROBLEM TO BE SOLVED: To solve a problem that an error has occurred since a traditional robot controller cannot reach a target position at a center position of a carried object of a second hand member in the case the target position at the center position of the carried object of the second hand member is not on a retraction line.SOLUTION: A second hand member 30 is surely moved to a target position by conducting processing for obtaining a carried object center position Pat starting and a target carried object center position Pof a carried object center position P, and a rotation center position Wat starting and a target rotation center position Wof a rotation center position W of a second hand member 39, and processing for setting a passing position Pat a position between the carried object center position Pat starting and the target carried object center position Pof the carried object center position P of the second hand member 30 based on the carried object center position Pat starting and the target carried object center position Pand the rotation center position Wat starting and the target rotation center position W. |
