Patent ID: 8442686

Claim:
An articulated arm robot comprising: a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm to a SCARA (Selective Compliance Assembly Robot Arm) mode where the first, second and third arm parts rotate only in a horizontal plane when driving the first, second and third arm parts with a low driving force, and to a perpendicular mode where the second and third arm parts rotate only in a vertical plane when moving the second and third arm parts over a wide range in a vertical direction.