| 摘要 |
PROBLEM TO BE SOLVED: To prevent the occurrence of interference by checking interference during the operation of a robot. SOLUTION: A learning program of each robot is prefetched (S5). After the n-interpolation period from the present interpolation period, a stop scheduled position when a stop command is given is obtained in each robot (S12). In the stop scheduled position of each robot, it is checked whether or not interference occurs (S15). When interference is determined, a stop command is output from the current interpolation period. Thus, a stop command is output n-interpolation period before the interference occurs, whereby the occurrence of interference can be prevented. COPYRIGHT: (C)2006,JPO&NCIPI
|
