Abstract: In a method for changing the relative orientation between a workpiece held or clamped by a robot and an arbitrary working point, without changing a determined position, the working point is defined in a reference coordinate system of the robot. In a teaching operation, the workpiece is held or clamped by the robot with respect to the working point. The workpiece is then rotated about the working point so that the workpiece can assume a desired relative orientation with respect to the working point.

Abstract: A method of controlling an articulated robot having in excess of six axes and up to twelve axes, comprises the steps of dividing the axes into two groups each composed of six axes or less, those axes which are positioned on one side of a dividing point (P) closely to a reference point serving as redundancy axes (11), those axes which are positioned on the other side of the dividing point closely to a robot wrist (Q) serving as basic axes (12), and controlling the dividing point (P), as a first control point, by way of interpolation and controlling the robot (Q), as a second control point, by way of interpolation with the controlled first control point regarded as a new reference point, so that all the axes of the articulated robot can be controlled by way of interpolation.

Abstract: A locus interpolation device characterized in that the device is attached to an end of a wrist of a movable structure such as a robot, with a tool supported by the device, and a circular or noncircular locus is interpolated by controlling the operation of the tool independently from that of the movable structure.