Control system of multi-joint arm robot apparatus

Claim 1

In a control system for a multi-joint arm robot including a plurality of unit arms (12 1 to 12 n ) connected in tandem by joint sections (13 1 to 13 n ), each of said unit arms being provided with motor means for controlling the joint angle of each of the joint sections; and a movable support (16) supporting said multi-joint arm, and having motor means for driving said movable support, to move said multi-joint arm; said control system comprises: display means (21) for displaying, as a model of three dimensional solids, the site to which the multi-joint arm is to be moved, and multi-joint arm; path designating means (36, 37) for designating the path of the multi-joint arm on the model of a three dimensional solids displayed on the display means (21); computer means responsive to said path designation' means for calculating the joint angle of each of the joint sections, in such a way that the joint sections (13 1 to 13 n ) of the multi-joint arm (11) are put on the designated path when said movable support (16) is moved at regular intervals; and motor driving means (38) for driving said motor means of said movable support (16) and said multi-joint arm (11), in response to said computer means (19), to move said movable support at regular intervals and, to drive each of said joint sections of said multi-joint arm to the calculated joint angle.