Patent ID: 8504199
Filing Date: 2013-08-06
Classification: B25J

Abstract:
1. A robot control system comprising: a manual operation unit provided with a manual operation key with which a robot having joints with seven or more degrees of freedom is manually operated; a jog controller that generates a command of a position or orientation of the robot in accordance with the manual operation; a servo controller that controls the robot in accordance with the generated command; a redundancy optimizer that optimizes a position or orientation of a seventh or higher degree of freedom in the manual operation; a start position storage that stores a position or orientation of a robot hand or a joint angle of each axis at the time when the manual operation key is pressed; a redundancy trajectory storage that successively stores a position or angle of redundancy optimized during the manual operation; and a reverse movement controller which, while a reverse-movement operation key provided on the manual operation unit is being pressed, performs movement control for reversely changing the position or orientation of the robot hand from a current position or orientation in a direction toward the position or orientation stored in the start position storage, and performs movement control of the redundancy on the basis of the position or angle of the redundancy stored in the redundancy trajectory storage.