ROBOT CONTROL DEVICE HAVING OPERATION ROUTE SIMULATION FUNCTION

摘要

A robot control device which enables finding of an erroneous instruction route by avoiding the risk accompanied by actual operation of a robot, without using an off-line simulation system. The robot control device is set in a state that a simulation function is on and actual operation is off while comparative processing is on, and an operating program for carrying out safety check is reproduced. When the reproduction route of each block is to be compared with a reference route by using interpolation point data, an interpolation point order index i is increased by 1 (K1), and an interpolation point Tref(i) of the reference route is read out (K2), thus comparing the interpolation point Tref(i) with an interpolation point T(i) of the reproduction route. A distance expression index d(i) and a distance discrimination index DELTA d(i) are calculated (K3, K4), and tool distal end point attitude difference indices f(i) to h(i) and attitude difference discrimination indices DELTA f(i) to DELTA h(i) are calculated (K5, K6). From these results, it is judged whether or not there is any change in route exceeding the reference. The actual operation is turned into the on-state to start processing, and the actual operation of the robot may be invalidated when a large change in route is found.