| 摘要 |
<p>A multi-joint robot and a control device of the robot, where two or more hands are mounted on the robot, axes are partly shared so that the number of axes are reduced and the robot is weight-reduced, production costs are reduced, and work efficiency can be increased. A multi-joint robot that is provided with plural hands, where a part (a first axis, a second axis) of axes are shared and hands can be individually installed on the tips of plural axes (4A axis, 4B axis) connected independently of the part (the first axis, the second axis) of axes. A control device is provided on the robot, and the device operates an appointed hand under CP control and switches a non-appointed hand to PTP control.</p> |
