CONTROL METHOD OF ARTICULATED ROBOT

PROBLEM TO BE SOLVED: To provide a robot system capable of performing arbitrary work in a passage including a narrow part, through it is impossible in a conventional robot, by allowing a hand of the robot to advance in the passage toward the necessary direction on the basis of guidance by various sensors. SOLUTION: This robot 2 of the robot system 1 is a multi-joint robot having a multi-joint structure formed by successively connecting a plurality of arms 13a-13j by means of rotary joints 14a and offset joints 15e. The advancing direction of the hand 16 is determined on the basis of detection of a searching sensor 20 (21) mounted on a tip end part, and the arms 13a-13j are successively operated to take the same position and attitude as the hand 16, and can pass through the narrow part by receiving the inheritance control of squirming motion. A computer 3 for controlling constitutes the network 4 by the joints of the robot 2 and a wiring distributed in the arms 13a-13j. COPYRIGHT: (C)2005,JPO&NCIPI