Industrial robots and their control methods

Abstract

This invention provides an industrial robot and its control method. In a robot with a multi-stage lifting section, vibrations generated by the movement of the lifting section can be suppressed, thus achieving correct movement. In a robot comprising a robot body (10) and a robot control device (50) for controlling the robot body (10), the robot body (10) includes: a base (20); an arm assembly (40); and a lifting section that allows the arm assembly (40) to move relative to the base (20). The lifting section has a structure in which multiple lifting components (21-23), each driven by a motor (31-33) and capable of moving vertically, are connected in series. The robot control device (50) independently controls each stage of the motors (31-33) of the lifting section of the robot body (10).

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