ROBOT AND CONTROL METHOD THEREOF

摘要

PURPOSE: A robot and a control method thereof are provided to reduce the time for creating a grip route by preliminarily calculating and storing a plurality of available grip poses. CONSTITUTION: A control method of a robot comprises the steps of: calculating and storing a plurality of available grip poses for creating a grip route(510), detecting the positions of an object, robot arms, and obstacles(520), determining the movable angle range of joints, a collision between the object and the obstacles, and a collision between robot hands based on the detected positions and selecting a plurality of grip poses(530), and creating a grip route from the selected grip poses(550).