| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and a device, by which a robot manipulator is used in a work space or a surrounded body having the vertical size different from the horizontal size, and the manipulator is not brought in contact with one of walls for partitioning the work space or the surrounded body when the manipulator is moved to the most contracting position or in the most extending position. SOLUTION: In a method and a device for providing the linear motion to a tool 127, this tool is attached to a manipulator device provided with two arms 14, 16 having different lengths. A processor drives and controls a rotational motor for respective arms so that the tool may be linearly moved from a first point to a second point by adjusting the anglesθ1 ,θ2 of the first arm 14 and the second arm 16, for the purpose of a plurality of intermediate points, extending along a straight line which is the straight line between the first point and the second point and the tool is passing along that straight line.
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