| 摘要 |
PURPOSE:To easily execute the cooperation of plural robots by allowing a monitor function part to grasp the operating spaces of respective robots simultaneously and time-serially. CONSTITUTION:Receiving a start instruction from a monitor part 7, robot bodies 1, 2 start only the operation of their action. The monitor part 7 receives the positional information of respective robots through a bus 8. The contents of these positional information are based on coordinates 13, 14 and converted into a common coordinate 15 by the monitor part 7. In order to provide a control point with a certain expansion as shown in envelope 9, 11, space processing considering the size of a tool or an error is executed in the vicinity of the control point to check mutual interference. When interference exists, the monitor part 7 transmits it to robot control parts 5, 6 and an operator checks and corrects an operation program based on the interference checking result.
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