METHOD OF CONTROLLING ROBOT, METHOD OF CARRYING LOAD, SYSTEM FOR CONTROLLING ROBOT, AND SYSTEM OF AT LEAST TWO ROBOTS FOR CARRYING LOAD

摘要

PROBLEM TO BE SOLVED: To increase available working volume and to reduce the stress of a component and a robot due to excessive constraint.;SOLUTION: This method of controlling a robot during interpolation of a track or movement to a predetermined position comprises the step (a) of neglecting at least one of the orientation values of three original predetermined or interpolated tool center points, the step (b) of finding the orientation value of a new tool center point for positioning the robot wrist center point to be the closest to the base, the step (c) of keeping the place values of the original predetermined or interpolated tool center points, and the step (d) of keeping the orientation values of the un-neglected original predetermined or interpolated tool center points. This method can be used for carrying a load using a plurality of robots. The main advantage is increase in available working volume.;COPYRIGHT: (C)2005,JPO&NCIPI