| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot controller which can check whether or not interference is caused without extremely limiting the strict positioning movable area of a work. SOLUTION: A robot hand part 3 is modeled with spheres having their centers at tip points A, B, and C and beams connecting the centers of the spheres, the movable area of the robot hand part 3 is set according to the shape of a box 5, and in the said movable areas, the movable areas of respective axes are further limited according to the positions and attitudes of the spheres and the beams.
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