ASSISTING DEVICE FOR WORKING ROBOT

摘要

PURPOSE:To perform proper transmission or a change or a state by deciding whether an operation amount of a robot body according to a control command is outside an operation region at each operation procedure and effecting transmission to an operator through the generation of vibration when it is outside the region, in an assisting device for a remote control style manipulator type working robot. CONSTITUTION:The degree of the progress of each work is set by an operation selection switch 11. In which case, an operation control managing part 40 of an operation assisting apparatus 32 to decide work procedures to define a work item, and a suppress output is outputted to a vibration generator 33 during setting of abnormality prohibition information 41 during a work outputs a movable region at each work item as an arm joint angle, compares it with an operation amount of a master arm 13, and outputs a deviation therebetween to the vibration generator 33. Object environment information 42 outputs a movable range of each work item as an arm joint angle and outputs a deviation with an operation amount of a spray arm 4 to the vibration generator 33. The vibration generator 33 decides based on input information whether operation is outside an operation region and oscillates when it is outside the operation region to transmit vibration to an operator.