Abstract: A method for controlling an articulated robot is a method for controlling an articulated robot with L (L is a natural number of seven or more) joints, wherein a controller receives a selected drive mode among a plurality of drive modes, wherein at least one joint of the L joints is associated, as a drive target joint, with each of the plurality of drive modes, executes calculation processing including an inverse kinematics calculation to calculate an amount of displacement of the drive target joint identified based on the selected drive mode from among the L joints, calculates, based on the calculation processing executed, a joint value relating to a state of each of the L joints such that the articulated robot is in a target state, and controls an operation of the articulated robot based on the joint value calculated for each of the L joints.

Abstract: An articulated robot includes a base; an end section; a plurality of links including a first link and a second link and connecting the base and the end section to each other; a first driving mechanism connecting the first link and the second link to each other and configured to rotate the second link about an axis as a first rotation axis relative to the first link, the axis as the first rotation axis forming an angle greater than a predetermined angle with a first direction in which the first link extends; a first moving mechanism configured to move the first driving mechanism relative to the first link along the first direction; and a second moving mechanism configured to move the second link relative to the first driving mechanism along a second direction in which the second link extends.

Abstract: An articulated robot includes a base; an end section; a plurality of links including a first link and a second link and connecting the base and the end section to each other; a first driving mechanism connecting the first link and the second link to each other and configured to rotate the second link about an axis as a first rotation axis relative to the first link, the axis as the first rotation axis forming an angle greater than a predetermined angle with a first direction in which the first link extends; a first moving mechanism configured to move the first driving mechanism relative to the first link along the first direction; and a second moving mechanism configured to move the second link relative to the first driving mechanism along a second direction in which the second link extends.

Abstract: A method for controlling an articulated robot with seven or more joints is a method includes repeating unit processing including computation processing and fixation processing. The computation processing is for (i) computing a displacement of each of the seven or more joints by use of computation of inverse kinematics; and (ii) updating a joint value of each of the seven or more joints based on the computed displacement. The fixation processing is performed on a joint in a specific state from among the seven or more joints, in which the specific state is determined based on a joint value of the joint in the specific state. When the fixation processing is performed, the computation processing includes changing, from among the seven or more joints, joint values of respective joints in a non-specific state, without substantially changing the joint value of the joint in the specific state.

Abstract: An articulated robot includes a base; an end section; a plurality of links including a first link and a second link and connecting the base and the end section to each other; a first driving mechanism connecting the first link and the second link to each other and configured to rotate the second link about an axis as a first rotation axis relative to the first link, the axis as the first rotation axis forming an angle greater than a predetermined angle with a first direction in which the first link extends; a first moving mechanism configured to move the first driving mechanism relative to the first link along the first direction; and a second moving mechanism configured to move the second link relative to the first driving mechanism along a second direction in which the second link extends.

Abstract: A robot controller acquires positions and orientations of a terminal apparatus in a physical space. The robot controller generates trajectory information indicating a trajectory of an end effector of the robot, the end effector moving to the same positions in the physical space at which the terminal apparatus was positioned, by defining positions and orientations of the end effector based on the acquired positions and orientations of the terminal apparatus.