公开(公告)号：EP0108549A1

公开(公告)日：1984-05-16

申请号：EP83306487.6

申请日：1983-10-25

申请人： KABUSHIKI KAISHA TOSHIBA

发明人： ASANO KUNISI ,  Arimura, Yoshiaki ,  Obama, Masao ,  Hitomi, Yutaka ,  Kondoh, Mitsunori

IPC分类号： B25J9/00 ,  B25J5/00 ,  B25J17/00

CPC分类号： B25J19/023 ,  B25J5/02 ,  B25J9/06 ,  B25J9/1625 ,  H04N7/185 ,  Y10S700/90

摘要： A multi-joint arm robot apparatus comprises a multi-joint arm (11) having a plurality of unit arms (12, to 12 n ) coupled in tandem with each other through joints (13, to 13 n ), and a movable support (16) for supporting the proximal portion of the multi-joint arm. The multi-joint arm robot apparatus has motors for controlling joint angles of the joints and a motor for moving the movable support. These motors are driven by a control system (96, 97). The control system controls the motors to obtain proper joint angles, in such a way that the joints of the multi-joint arm are put into a given path when the movable support is moved a given unit distance.