Patent ID: 9248572
Filing Date: 2016-02-02
CPC Classification: B25J,G05B,Y10S

Claim Text:
1. An axis angle determination method for determining an angle or a position of each axis of a six-axis robot that has first to sixth axes and a hand, the six-axis robot being capable of taking an attitude of a singular point that is a state in which a rotation axis of the fourth axis and a rotation axis of the sixth axis match, the axis angle determination method comprising: judging, based on teaching results of a position and an attitude of the hand obtained by point-to-point teaching of the six-axis robot, whether an attitude of the six-axis robot in which the angle or the position of each angle is to be determined next is a singular point; and if judged that the attitude is a singular point, determining an angle of the fourth axis and an angle of the sixth axis required for the six-axis robot to move to the singular point such that an angle of one of the fourth axis and the sixth axis is determined to be fixed to a current value and an angle of the other of the fourth axis and the sixth axis is determined based on the fixed angle of one of the fourth axis and the sixth axis.