The axial angle determination method for a six-axle robot and control device for a six-axle robot

摘要

The axial angle determination method for determining an angle or a position of each of the axis of a six-axle robot (1), the first to sixth axes (j1 to j6) and a hand (h1), wherein the are hexago-axial robot (1) a setting of a singular point, can take up the is a state in which an axis of rotation of the fourth axis (j4) and an axis of rotation of the sixth axis (j6) correspond,the axle angle determination method comprising:Assessing based on results a position and an adjustment of the hand (h1), which by means of a point - to - point - learning of six-axle robot (1) is obtained, whether a setting of six-axle robot (1), in which the angle or the position of each angle as the next step is to be determined, a single point; andif it is judged that the setting of a single point, of an angle of the fourth axis (j4) and an angle of the sixth axis (j6), which, for the six-axle robot (1) are required, in order to move to the single point, so that an angle of the fourth axis (j4) or of the sixth axis (j6) is determined, in order to a current value to be fixed, and an angle of the other of the fourth axis (j4) or of the sixth axis on the basis of the predetermined angle of the fourth axis (j4) or the sechsen axes (j6) is determined.