ARTICULATED ROBOT, CONTROL METHOD FOR ARTICULATED ROBOT, AND CONTROL PROGRAM FOR ARTICULATED ROBOT

摘要

This articulated robot is provided with: a workpiece gripping part that can grip a workpiece; a plurality of shafts for moving the workpiece gripping part; and a control device for controlling the plurality of shafts such that the workpiece gripping part is moved while a workpiece angle formed between the workpiece held by the workpiece gripping part and a workpiece angle-setting reference surface is maintained constant at a predetermined holding angle.