Robot, method of controlling robot, method of manufacturing product, and recording medium

A method of controlling a robot performed by a control device, the robot comprising a first driving source, a second driving source, and an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted, the method comprising:

• executing, by the control device, a first process or a second process depending on a motion of the robot to be performed,
• wherein in the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction, and
• wherein in the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, the output portion is able to rotate toward a direction opposite to the predetermined direction.

A method of manufacturing a product by using a robot, the robot comprising an end effector configured to hold a first workpiece, and a robot arm configured to move the end effector and cause the first workpiece to contact a second workpiece, the robot arm comprising a first driving source, a second driving source, and an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted, the method comprising:

• controlling, by a control device, the first driving source and the second driving source such that when the output portion is rotated in a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction, for positioning the end effector at a predetermined position via the output portion and causing the end effector to hold the first workpiece, and
• controlling, by the control device, the first driving source and the second driving source such that when the output portion is rotated in a predetermined direction, the output portion is able to rotate in a direction opposite to the predetermined direction, for moving the end effector via the output portion and causing the first workpiece to contact the second workpiece to manufacture the product.