METHOD OF MANUAL FEEDING BY ROBOT.

摘要

Even when many robots are arranged densely, each robot can be instructed efficiently and safely. While a manual feed instruction is being inputted in a controller B, the current position coordinates of the characteristic points Pi and Qj defined for robots A1 and A2 are successively simulated, updated and stored in a RAM. The distance R between the characteristic point Pi (i = 1 to the final value) and the characteristic point Qj (j = 1 to the final value) is obtained in succession. Each time a smaller distance R between the characteristic points is calculated, the value of this distance is stored in a register Rmin. Thus, the shortest distance between the robots A1 and A2 are calculated (step S1 to S12). In accordance with the shortest distance Rmin, the actual manual feeding speed V is increased or decreased (step S13 and S14).