| 摘要 |
<p>A method and an apparatus for controlling an industrial robot is disclosed which has a step or detector (9) for directly sensing the position of a finger portion (8) of the robot, a dataprocessing-instruction generator (32) for determining a control quantity of the finger portion (8) and transmitting instructions corresponding to the control quantity, a step or sensor (39) for indirectly detecting the position and posture of the finger portion (8) by sensing the numbers of revolutions of the driving sources (37) and switching means (32 min ) for selectively changing control modes of the robot between one control mode using the detector (9) and to another control mode using the sensor (39).</p> |
