| 摘要 |
PURPOSE:To determine proper operation condition for an actual work load independently by comparing permissible operation condition stored in a robot control part with operation condition when the actual work load is fitted to atop of a robot wrist for every control axis. CONSTITUTION:The load is fitted atop of the robot wrist and put in trial operation around each control axis, load moment depending upon a driving means for each control axis is measured, and the operation condition of the trial operation is stored as permissible operation condition in the robot control part to determine operation condition. Thus, the permissible operation condition stored in the robot control part is compared with the operation condition when the actual work load is fitted atop of the robot wrist for every control axis to operate a robot body, the robot arm, and the robot wrist properly on operation condition suitable to the work load.
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