Wrist posture interpolation method of rotary articulated robot

摘要

The present invention relates to a method of interpreting a wrist posture of a rotary articulated robot, and in consideration of the fact that when the tool is moved by moving the robot, the discontinuity of the tool posture is generated by separately obtaining the change of the end point and the change of the tool posture This is a solution to the discontinuity of the robot wrist posture by taking the possible tool posture and tool end point in consideration of the change of the tool end point and the change of the tool posture and the single degree of freedom of the robot.