| 摘要 |
A horizontal multi-joint industrial robot has three arms of first, second and third arms which are sequentially attached from a base member, and has a robot hand which is connected to an distal end portion of the third arm. In this composition, there are two states of folding directions of arm joints with respect to a robot hand movement. When the robot hand moves in a forward direction, rotational movement of the arms is controlled so as to select one of the folding directions such that an angle between a robot hand direction and the third arm maintains 90° or more. This allows a distal end portion of the second arm to always position behind a distal end portion of the third arm with respect to the robot hand forward direction, which makes it possible to decrease a robot arm movable area that makes no contribution toward conveying a workpiece, thereby saving space for installing the robot.
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