| 摘要 |
PURPOSE: A system for calculating a joint angle of a biaxial robot is provided to enable a biaxial robot to quickly move even in a narrow place by increasing the movable range of the second joint of the biaxial robot. CONSTITUTION: A system for calculating a joint angle of a biaxial robot comprises a controller. The controller extracts coordinates through kinematic analysis of the biaxial robot from the current joint angle of the robot and calculates the robot joint angle through inverse kinematic analysis from the coordinates. The controller includes a compensation calculation unit which performs compensation calculation in the inverse kinematic analysis and calculates the joint angle of the robot by determining the angle of the second joint, thereby moving the second joint over 180 degrees.
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