ROBOT, ROBOT CONTROL DEVICE, CONTROL METHOD AND CONTROL PROGRAM

摘要

A platform part (1) and a trunk part (8) are connected by a trunk part moving mechanism (2) such that they can move relative to one another, a robot arm (3) having joint locking mechanisms (28) capable of mechanically fixing each joint in place is installed on the trunk part (8), and a robot operation control means (47) controls switching between a robot arm operation mode, wherein the robot arm (3) is operated with one of the joints of the robot arm (3) in a free state, and a trunk part movement mode, wherein the trunk part (8) is moved with said joints locked.