| 摘要 |
In a robot control method, target values of a work point are provided in position and orientation by a robot program, programmatically dependent on which a tool reference point of a manipulator is to be adjusted via automatic movement of axles of the manipulator by a robot controller connected with the manipulator. Based on position values (provided by the robot program) of a planned position and orientation of a robot base adjustable via an auxiliary axle, which position and orientation are to be occupied by the robot base, automatically changing the position values such that the actual position of the robot base that is to be occupied relative to the planned position to be occupied converges on a predetermined reference point, in particular the work point or the tool reference point. The robot controller automatically moves the auxiliary axle to cause the robot base to occupy the position and orientation that correspond to the changed position values.
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