Patent ID: 9073211
Filing Date: 2015-07-07
Classification: B25J,G05B

Abstract:
1. A control system for a seven-axis articulated robot having: (i) a hand end provided at a leading end of the seven-axis articulated robot, (ii) at least seven joints arranged in series from a base to the hand end, each of the seven joints having a pivot axis configured to pivot about the pivot axis of a subsequent joint, and (iii) a three-axis shoulder portion, a one-axis elbow portion and a three-axis wrist portion are arranged in series from the base, the control system comprising: a setting device configured to set a specified plane in a teaching mode for teaching the seven-axis articulated robot; a control unit configured to control a movement of the seven-axis articulated robot so as to restrict a motion trajectory of the elbow portion within the plane set by the setting device; and a computing unit configured to perform an inverse transform operation to calculate the pivot angle of each pivot axis based on a change in a position of the hand end, and output the calculated pivot angle of each pivot axis to the control unit, wherein