To provide a robot which can damp the vibration of a hand in a short time after an arm is stopped.
The robot includes: a first arm 16 including a plurality of links and a plurality of joints connecting the links and moving a first hand connected to the joint; and a control unit 4 for controlling the posture of the first arm 16. The control unit 4 includes: a memory 45 that stores an optimum post-movement posture that is one of the post-movement postures at which the vibration of the first hand 14 after the completion of the movement thereof is damped in a short time where the post-movement posture represents a posture of the first arm 16 in a movement completion place after the first hand has been moved from a movement starting place to a movement completion place; and a retrieving unit 66 for retrieving an optimum post-movement posture corresponding to the movement completion place from optimum post-movement posture data 58 stored in the memory 45. A posture control unit 64 controls a posture of the first arm 16 so that a post-movement posture becomes an optimum post-movement posture.
Osamu Suzawa
Kazuhiko Miyasaka
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