| 摘要 |
PROBLEM TO BE SOLVED: To reduce the number of shafts, to make a robot lighter, to reduce manufacturing cost, and to enhance working efficiency by providing one robot with two or more hands and jointly owning some of the shafts. SOLUTION: The articulated robot jointly owns the shaft of a part (first shaft, second shaft) and is provided with a plurality of hands in one robot in which the hands are mounted to a tip end of a plurality of shaft (4A shaft, 4B shaft) independently connected to the shafts (first shaft, second shaft). The control device is provided which CP-controls the designated hand and switches the non-designated hand to PTP-control. COPYRIGHT: (C)2004,JPO |
