DEVICE AND METHOD FOR CONTROLLING MOVEMENT OF ROBOT, DURABILITY TEST DEVICE FOR ROTATING MECHANISM, AND DEVICE FOR PRODUCING LOAD OF ROBOT

摘要

PROBLEM TO BE SOLVED: To make a robot obtain a path for operating a rotation mechanism to reduce an error in movable direction by repeating a motion that a force is applied to an object to be moved by changing the direction of the force to the gripping part of a robot by an inching angle on the basis of the direction of the force at starting and that the gripping part is moved while holding the direction of the force at starting. ;SOLUTION: When a movable direction probing part is stopped in the first probing operation with an aiming force vector deviated from a movable direction of an object 103 to be moved, the direction is scanned by a predetermined inching angle on the basis of the aiming force vector just previously set until a robot 102 moves and, when the robot moves, the position and the direction of the aiming force vector are stored. Next, in the probing operations following the second operation, the direction of the aiming force vector is switched continuously on the basis of information for switching the movable direction obtained by the first probing operation before the robot 102 stops, which can provide a smooth rotation path.;COPYRIGHT: (C)1998,JPO