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发明公开
CN104411466A 机器人系统及加工品的制造方法 无效 - 撤回

机器人系统及加工品的制造方法
摘要：
本发明的课题在于降低由于回避奇异点而导致的不良情况。为了解决该课题，实施方式涉及的机器人系统包括：具有臂的机器人(2)；工作台(3)。工作台(3)载置在机器人(2)利用臂进行的操作中所使用的物品。机器人所具有的臂包括：第一臂部(21)、第二臂部(22)和第三臂部(23)。第一臂部(21)在前端将末端执行器(50L)支承为能够以第一旋转轴为中心旋转。第二臂部(22)将第一臂部(21)的基端部支承为能够以与第一旋转轴垂直的第二旋转轴为中心摆动。第三臂部(23)将第二臂部(22)的基端部支承为能够以与第二旋转轴垂直的第三旋转轴为中心摆动。
摘要（英）：

The invention addresses the problem of reducing problems due to avoidance of singular points. In order to solve the problem, the robotic system of an embodiment is provided with a robot (2) that has arms and a work bench (3). Articles to be used for work that the robot (2) performs using the arms are placed on the work bench (3). The arms of the robot are provided with a first arm section (21), a second arm section (22), and a third arm section (23). The first arm section (21) supports an end effector (50L) at the tip so as to be rotatable centered on a first rotation axis. The second arm section (22) supports the base end of the first arm section (21) so as to be swingably supported centered on a second rotation axis that is perpendicular to the first rotation axis. The third arm section (23) supports the base end of the second arm section (22) so as to be swingably supported centered on a third rotation axis that is perpendicular to the second axis.

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