| 摘要 |
<p>This invention relates to a robot control method which can easily accomplish a cooperative operation with an additional shaft for moving a robot as a whole. When a teaching is given, a robot control apparatus (12) drives each joint of a robot (11) and travelling means (15) as an additional shaft through a shaft control unit (14) on the basis of an instruction from a teaching operation panel (13). Joint angles at that time are converted to position data (X, Y, Z) in an orthogonal coordinate system and to posture data and the position data (X, Y, Z) is further corrected to position data (X', Y', Z') on the basis of the position of the travelling means (15). The corrected position data (X', Y', Z') and the posture data are stored as an intruction data for the robot (11). Correction and conversion reverse to those at teaching are conducted for the instruction data at the time of reproduction, and the robot (11) is driven on the basis of instructed joint angles.</p> |
