| 摘要 |
PROBLEM TO BE SOLVED: To provide a manipulator orbit formation device capable of forming an action program by letting each teaching point be set up to prevent the occur rence of singular points and errors due to actions out of an operating range when actions are affirmed using an actual machine. SOLUTION: The three dimensional model of a work is formed up by a work model forming means 2 based on the input data of a work configuration. The action environment of a manipulator to be used for work processing is recognized by an environment recognition means 1. Each teaching point of the manipulator is set up by a teaching point setting means 3. Based on the data of the teaching point, a manipulator action program is formed up by an action program forming means 4, the joint angle of each axis of the manipulator is computed by a reverse kinematic operating means 5. It is determined whether the joint angle of each axis of the manipulator is applicable to the singular points or actions out of an operating range by a judging means 6 for the singular point and the action out of an operating range. And the joint angle determined to be applicable to the singular point or the action out of an operating range is thereby changed by a joint angle changing means 7.
|
