| 摘要 |
The method involves projecting a predetermined tracking speed of a robot by reducing a distance to a border line of a work room in a reduced manner, when braking of the robot within the border line of the room reaches a downtime. The robot is digitally moved with the predetermined tracking speed in such a manner that a braking distance associating a displacement state is smaller than a distance of an effector or a tool center point from the border line of the room. The braking distance in a path point is determined during path planning and based on the displacement state of the robot. |
