CONTROLLING METHOD AND SYSTEM FOR MULTI-JOINT ROBOT

摘要

PURPOSE: A control method and system for a multi-joint robot are provided to efficiently use multiple encoder communication channels and one controller communication channel and to enable position control one time use of absolute encoder data. CONSTITUTION: A control method for a multi-joint robot is as follows. First encoder data about the preset calibration position of a robot(100) is acquired. Relative offset data of a calibration position to the standard position is acquired. Second encoder data about the current position of the robot is acquired. Relative position data of the current position to the standard position is acquired using the first and second encoder data and the offset data.