Robot control method, robot control device, information processing method, information processing device, teaching method, teaching device, manufacturing method of articles using robot control method, program and recording medium

摘要

To solve such the problem that, since an articulated robot has a high-degree of freedom in teaching and multiple combinations of joint angles are available even in an identical posture, it is difficult to select a combination of joint angles that shortens an operation time in the entire operation program.SOLUTION: A method for controlling an articulated robot includes: calculating combinations of joint angles that becomes identical to teaching points based on ranges capable of rotating joints of an articulated robot; and correcting setting values of rotation angles of the joints using a combination with which an operation time becomes the shortest from those combinations to control operation of the articulated robot.SELECTED DRAWING: Figure 10