| US 7,363,092 B2 | ||
| Multi-joint robot and control device thereof | ||
| Hirokazu Kariyazaki, Fukuoka (Japan); and Tatsumi Nakazato, Fukuoka (Japan) | ||
| Assigned to Kabushiki Kaisha Yaskawa Denki, Fukuoka (Japan) | ||
| Appl. No. 10/516,453 PCT Filed May 26, 2003, PCT No. PCT/JP03/06556 § 371(c)(1), (2), (4) Date Dec. 03, 2004, PCT Pub. No. WO03/101676, PCT Pub. Date Dec. 11, 2003. |
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| Claims priority of application No. 2002-163511 (JP), filed on Jun. 04, 2002. | ||
| Prior Publication US 2005/0204848 A1, Sep. 22, 2005 | ||
| Int. Cl. G05D 1/00 (2006.01); G06F 19/00 (2006.01); B25J 9/18 (2006.01) | ||
| U.S. Cl. 700—1 [700/245; 318/568.11] | 4 Claims |
| 1. An articulated robot comprising:
a plurality of tools at a single unit thereof sharing portions of axes and capable of attaching the tools respectively tips
of a plurality of axes connected to the axes independently therefrom, and
a control apparatus for subjecting a designated one of the tools to an interpolate control while controlling a position thereof
and subjecting the tool which is not designated to a uniform pay off control to instruct to an axis angle of a target position.
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