Control system and teaching method for seven-axis articulated robot
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United States of America Patent
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Jul 7, 2015
Grant Date -
Dec 26, 2013
app pub date -
Dec 21, 2011
filing date -
Dec 28, 2010
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Abstract
A control system and teaching method for a seven-axis articulated robot are provided, which system and method are capable of easily grasping a motion trajectory of the whole robotand thereby performing proper teaching during teaching operation. The control system includes a setting device for setting a specified plane in a teaching mode for teaching a seven-axis articulated robot; a control unit for controlling the movement of the seven-axis articulated robot so as to restrict a motion trajectory of an elbow portion within the plane set by the setting device; and a computing unit for performing inverse transform operation to calculate the pivot angle of each pivot axis based on a change in a position of the hand end, setting the restriction of the movement of the elbow portion as a constraint condition, when the position for the hand end is taught.
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