SPECIFIC ATTITUDE CANDIDATE SEARCHING METHOD FOR ROBOT TRAJECTORY AND PRECISION EVALUATION METHOD FOR ROBOT TRAJECTORY

PROBLEM TO BE SOLVED: To provide a precision evaluation method capable of evaluating the precision of a robot trajectory drawn by an off-line in a short time without using a Jacobian matrix. SOLUTION: In a method for evaluating the precision of a robot trajectory of an articulated robot in the change of the attitude of a tool with a wrist when the tool mounted at the end of the wrist of a robot arm is moved to a given direction, the attitude of the tool, if corresponding to a plane (π) including the robot arm, is judged to be the candidate of specific attitude, and the shortest distance (h) between a tool end position Pp on the robot trajectory PcPt for the candidate of the specific attitude and a specific point locus S1S2 of the robot on the plane (π) is found to evaluate the precision of the robot trajectory depending on whether the shortest distance (h) is within an allowance value or not.