| 摘要 |
PROBLEM TO BE SOLVED: To provide a robotic device easy to teach and capable of shortening cycle time in an actual operation. SOLUTION: The problem is solved by the robotic device 1 including an arm unit 2 constituted of at least a first arm 11 having a workpiece holding part 10 for holding a workpiece and reciprocating and a second arm 12 coupled with the first arm 11 and reciprocating in the same direction as that of the arm 11, and a controller for controlling the operation of the first arm 11 with a higher priority to the second arm 12 to move the arm unit 2 from a starting point coordinate P0 to a predetermined coordinate position P. The controller has an R-axis set as a robotic coordinate system and defines a forward mechanical solution of R=R1+R2 where R refers to a distance from the starting point coordinate P0 to the predetermined coordinate position P (R1 refers to a traveling distance of the first arm 11 and R2 refers to a traveling distance of the second arm 12) and defines assignment from R to R1 and R2 as a backward mechanical solution. COPYRIGHT: (C)2007,JPO&INPIT |
