| 摘要 |
<p>A method of preventing interference of an industrial robot in which teaching of an operation program to the robot is easy and interference of the robot with an external cooperative apparatus can be easily avoided. If a current position of a reference point on the robot for detecting interference is outside a common area (S12) and a target position of the reference point is outside the common area (S18), a motion command is outputted to drive the robot. If the target position of the reference point is within the common area, it is determined that whether or not a movable part of the cooperative apparatus is within the common area, and if the movable part is outside the common area, an operation forbidding signal for the cooperative apparatus is turned on and the motion command is outputted to make the robot move. If the movable part of the cooperative apparatus is within the common area, the motion command is withheld till the movable part of the cooperative device moves out of the common area (S4, S5). If the current position of the reference point is within the common area (S12), the operation of the cooperative apparatus is forbidden (S15, S17). <IMAGE></p> |
