| 摘要 |
<p>A device for determining an interference region of a robot, capable of determining an interference region/non-interference region and the like on an off-line layout space without difficulty. Geometric data of a robot and peripheral objects is read from a CAD system or the like to be displayed in the form of a layout display, to thereby form a cage region. An initial occupied region is found by calculating a three-dimensional position of each arm at an initial position. An operation simulation is run, and the tree-dimensional positions are repeatedly calculated, thereby finding the aggregate sum of the occupied region. After the robot is moved, a total occupied region G, an overlapping region H, a protruding region K, a non-occupied region M and the like are displayed in different colors, to thereby perform layout correction of a peripheral object, a change of the cage region, etc. It is also possible to judge the presence or absence of the overlapping region H/protruding region K and to search "a hidden non-occupied region" by way of a sectional display in which points A, B and C are designated. <IMAGE></p> |
