Method and apparatus for controlling a robot to perform weaving-like motion

摘要

A method for effecting a weaving-like movement of a hand of an industrial robot, which hand is moved along a principle line while undergoing the weaving-like movement with respect to the principle line. Reference weaving-like pattern information stored as coordinate values in a predetermined reference coordinate system is transformed into actual displacements of the hand with respect to an actual moving direction thereof according to a hand attitude vector and a hand moving direction vector.