ARM CONTROL METHOD, AND ARM CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To provide an arm control method and an arm control device in which a reasonable operational plan is set when allowing an arm to perform a desired operation such as a work storage work, and the entire mechanism can be simplified and the working efficiency can be improved. SOLUTION: An arm 2 having a longitudinal shaft and a rotary shaft is controlled. In the procedure thereof, the operational plan of the longitudinal shaft is set first, and the operational plan of the rotary shaft is set so that a tip of the arm 2 performs the desired operation based on the operational parameterθof the longitudinal shaft with the operational plan set therefor.