| 摘要 |
PROBLEM TO BE SOLVED: To provide an articulated robot preventing an unpredictable movement of a coaxial rotary shaft in the vicinity of a singular point. SOLUTION: A control device of the robot has a 5-axis control program in addition to a 6-axis control program. In the 5-axis control program, each shaft is controlled in a fixed state of a fourth shaft to be the coaxially rotary shaft at 0°in the 6-axis articulate robot. The control device executes the 5-axis control program when judging that the fourth shaft rotates by 180°when calculating an angle of each shaft. As a result, the rotation of the fourth shaft by 180°is prevented at the time of a CP operation. COPYRIGHT: (C)2006,JPO&NCIPI
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