| 摘要 |
PROBLEM TO BE SOLVED: To inhibiting a movable range of a physical stopper from being erroneously set relative to a movable control range in executing software control in a robot arm capable of changing a stopper position. SOLUTION: A control section 9, upon request for changing a movable control range of the arm from a switch (not shown), displays alternatives of a plurality of arm movable control ranges on a display section 12. When the control section 9 recognizes that an input for selectively determining the one alternative is made with a touch panel switch (not shown), the control section sets the movable control range as the movable control range of the selectively determined alternative and moves and stops the arm so that a physical stopper to be effected is in the vicinity of a layout portion of the physical stopper identified by the set movable control range and is within the set movable control range. COPYRIGHT: (C)2010,JPO&INPIT
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