| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a method for teaching a redundant robot in which a redundant axis is effectively utilized according to the position and the attitude of a work and an obstacle. <P>SOLUTION: In this method for teaching a redundant robot 10, the work 30 is detected by an external sensor, and a robot arm 1 having a joint with seven or more axes including the redundant axis is operated for the detected work 30. The method includes a step of dividing the operating area of the robot arm 1 into a plurality of areas and pre-teaching the reference position and the reference attitude of the robot arm 1 for each divided area. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
