| 摘要 |
PROBLEM TO BE SOLVED: To preclude the possibility of making contact with an obstacle such as a support and to shorten transfer time. SOLUTION: A transfer method for a load by a robot 4 relates to transfer of the load 3 to a specified load storage space 6 while revolving the load 3 in a specified position by 90 deg.. A virtual space S of the load 3 revolving the load 3 in the specified position by 90 deg. is formed in front of the load storage space 6, and the load 3 is transferred while making it pass through this virtual space S. Under this method, it is possible to avoid the load 3 from making contact with supports 5 left and right adjacent to the load storage space 6 by moving the load 3 so as to be in the position revolved by 90 deg. in the virtual space S in front of the load storage space 6, to eliminate conventional useless transfer movement or stopping motion of the load 3 and to shorten transfer time.
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