EACH AXIS ANGLE DETERMINATION METHOD FOR 6-AXIS ROBOT AND CONTROLLER FOR 6-AXIS ROBOT

摘要

PROBLEM TO BE SOLVED: To provide each axis angle determination method for a 6-axis robot capable of determining each axis angle relative to a singular point without imposing a burden on a user.;SOLUTION: A controller for a 6-axis robot performs the following steps when determining next each axis angle or position according to a result of PTP teaching for hand tip positions: indicating singular points to meet a posture of the robot to determine each axis angle or position with rotation axes of a fourth axis and a sixth axis (S1:YES); and determining angles of the fourth axis and the sixth axis to move to the singular points, by determining one of the axis angles to be fixed to the present value to determine angles of the other axis (S2, S3).;COPYRIGHT: (C)2015,JPO&INPIT