| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique of monitoring a robot arm operable area at high speed. SOLUTION: A robot operable area monitoring method is used for determining that an arm of an articulated robot 1 is present in a predetermined polyhedron indicative of an operable area. According to the method, external spheres 4 to 9 each passing through vertexes constituting each of a plurality of planes defining the polyhedron, and having a first predetermined radius, and a sphere about a joint of the arm, having a predetermined second radius, are obtained, and if a center distance of the external sphere and the sphere about the joint of the arm, having the predetermined radius, is larger than a sum of the first predetermined radius and the second predetermined radius, it is determined that the arm is present in the range of the operable area. COPYRIGHT: (C)2009,JPO&INPIT
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