ROBOT OPERATION PLAN METHOD, ROBOT OPERATION PLAN DEVICE, PROGRAM AND RECORDING MEDIUM

摘要

PROBLEM TO BE SOLVED: To provide a robot operation plan method capable of finding an attitude of a robot wherein a moving time of the robot becomes nearly shortest, in each teaching point. SOLUTION: In step S6, a moving time tk, jto an attitude Qi, jin a teaching point Piis found from an attitude Qi-1, kin the preceding teaching point Pi-1. In step S7, it is confirmed whether a latest shortest moving time fi, jto the attitude Qi, jfrom an evacuation point P0is larger than a sum of the moving time tk, jand the shortest moving time fi-1, kto the attitude Qi-1, kfrom the retraction point P0or not. It proceeds to step S8 when large, and it proceeds to step S9 when not large. In step S8, the sum of the moving time tk, jand the shortest moving time fi-1, kis set as a new shortest moving time fi, jto the attitude Qi, jfrom the retraction point P0, and is stored together with an attitude number k. COPYRIGHT: (C)2006,JPO&NCIPI