Patent ID: 8812155

Claim:
A robot comprising: an articulated arm having a terminal end, for the movement of the terminal end to a target point in an N-dimensional working space comprising at least N+1 motorized articulations defining a kinematic chain, and a computer for controlling the movements of the motorized articulations, the computer controlling a first prepositioning of the terminal end of the articulated arm and a fine positioning; a first prepositioning including engaging the terminal end into an area of interest of the working space, as close as possible to a center of an optimum positioning area within the area of interest, the center being defined as a function of N secondary motorized articulations, the N secondary motorized articulations being selected among the at least N+1 motorized articulations; and the fine positioning including prohibiting all the movements of all the articulations except for the N secondary motorized articulations and controlling the movement of the terminal end through elementary movements of at least one of the N secondary motorized articulations, with at least one of the N secondary motorized articulations having an axis of rotation, the robot being such that, at least in one given configuration, the N secondary motorized articulations are not exclusively the last N articulations of the kinematic chain.