Patent ID: 7062334
Filing Date: 2006-06-13
Classification: B25J,G05B,H05K

Abstract:
1. A method for controlling movement of a body from an original position to a target position by individually operating two drive units for moving the body, in directions orthogonal to each other, along an X axis and along a Y axis while avoiding passing of the body through a passing avoidance region, comprising: setting, as an operational passing position, a passing point in a travel route of the body for avoiding the passing avoidance region; and controlling operation of the drive units such that operation of one of the drive units, associated with a shorter travel distance from the original position to one of an X-axis coordinate and a Y-axis coordinate of said operational passing position, is started later than operation of the other of the drive units, associated with a longer travel distance from the original position to the other of said X-axis coordinate and said Y-axis coordinate of said operational passing position.