公开(公告)号：EP0465661A4

公开(公告)日：1993-03-17

申请号：EP91902755

申请日：1991-01-21

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： MINAMI, YOSHIKATSU, YAHATA PLANT, KK YASKAWA DENKI ,  TANAKA, MASATO, YAHATA PLANT, K.K. YASKAWA DENKI

IPC分类号： B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  G05B19/18 ,  G05B19/4103 ,  G05B19/415

CPC分类号： B25J9/1643 ,  G05B2219/40353

摘要： A method of controlling an articulated robot having more than six axes and less than twelve axes, comprising: a first step in which the axes are divided into two groups each having six axes or less, and, with respect to the dividing point (P), redundant axes (11) are disposed on the side of a reference point and basic axes (12) are disposed on the side of fingers (Q); and a second step in which the dividing point (P) is regarded as a first control point and the fingers (Q) are regarded as a second control point, whereby the first control point is interpolation-controlled, and the first control point thus interpolation-controlled is regarded as a new reference point, whereby the second control point is further interpolation-controlled, so that all of the axes of the articulated robot are interpolation-controlled.