| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a method for preparing a working program for a double arm robot, efficiently preparing a working program for a plurality of manipulators according to an assembling procedure intended by a teaching worker in a short time. <P>SOLUTION: A three-dimensional model for a plurality of parts is prepared, manipulators for holding and operating respective parts connected to each other are selected from a plurality of manipulators, the positions of the points through which the parts move in the assembling operations and the attitudes of the parts at these route points are set up, numbers for the route points are allocated in the order of the arrival of the manipulators, the route point data list including route point numbers, part names to be operated, route point positions, and attitudes is prepared for each manipulator, and working macros are combined according to the contents of working which are performed by the manipulators at the route points. Thus, a working program for a plurality of manipulators is prepared. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
