| 摘要 |
A method of controlling a robot is disclosed in which the displacement of each of a plurality of kinematic pairs of a robot is detected by a detector, the present spatial position of a hand or tool of the robot is calculated on the basis of the detected displacement of each kinematic pair, a set position to be occupied by the hand or tool and a deviation of the present position of the hand or tool from the set position are calculated, the speed of the hand or tool is determined in accordance with the deviation, a desired displacement value or speed of each of the kinematic pairs is calculated from the speed of the hand, and actuators are controlled on the basis of the calculated displacement values or speeds of the kinematic pairs to drive the kinematic pairs.
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