| 摘要 |
A robot system is provided to finely control a robot system by facilitating movement of hands of the robot system and to prevent the hands from colliding with peripheral objects. A robot system comprises a robot body(11) and a controller(20) that controls the robot body. The robot body includes a first hand(12). The first hand moves from a base end(12a) toward a front end(12b) along a J1 axis. The J1 axis rotates about a J4 axis on a horizontal plane. The J4 axis vertically rotates on a J3 axis. The J3 axis moves on a horizontal plane along a J5 axis. The controller synchronizes the J1 axis, the J3 axis, the J4 axis and the J5 axis such that the first hand moves along X, Y and C axes of a tool coordinate system based on the center of the first hand.
|
