| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot arm and a control method therefore capable of shortening a driving time to a target position. SOLUTION: The robot arm drives a plurality of joints to move a robot hand to the target position. The arm includes: a hand track generating unit which generates a hand track; a hand speed computing unit 33 which computes hand speed when a hand moves on the hand track; a driving speed calculating unit 34 which calculates the driving speed of the joints based on the hand speed; a driving speed estimating unit 35 which estimates whether the driving speed of the joints exceeds a limit value of the driving speed or not; a hand speed correcting unit which corrects the hand speed when the driving speed exceeds the limit value; and an actuator 28 which drives the joints corresponding to the driving speed calculated based on the modified hand speed. COPYRIGHT: (C)2008,JPO&INPIT
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