| 摘要 |
PROBLEM TO BE SOLVED: To make easy input of data for facilitating indication work even if a robot body is mounted in a falling state in performing palletizing work to stacked pallets. SOLUTION: In a palletizing position calculation method of robot obtaining palletizing positions of K stage arranged in M column in one direction and in N line in the other direction, a positional vector Pkmn at an nth line of an mth column in a kth step is calculated by an equation of Pkmn= Plmn-H×(k-1)A, where Plmn is a positional vector of palletizing position at an nth line in an mth column, A is an aproach vector at each palletizing position thereof, and H is a difference between stages. Since the approach vector A is opposite to the direction of stacking direction of pallets 17 at the palletizing position, the palletizing position of pallets at each stage can be obtained by using the above equation. Accordingly, even if a robot body is installed in a falling state or pallets are stacked with inclination, the height data of pallets are just input as positive values.
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