| 摘要 |
PURPOSE:To move the mechanism of a robot to a desired retreating position with no manual operation without causing the mechanism to collide against an obstacle, by using a mechanism stoppage detecting means, retreating route storing means, and retreat executing means. CONSTITUTION:A mechanism stoppage detecting means M3 detects the stoppage and stopping position of the mechanism R of a robot when the mechanism R stops in the course of a series of works for some reason. A retreating route string means M4 stores that through which route the mechanism R of robot can be retreated to a safe position without causing the mechanism R to collide against any obstacles. A retreat executing means M5 actually executes the retreat of the mechanism R of robot and drives the mechanism R by selecting a retreating route stored in the retreating route storing means M4 corresponding to the detected result of the mechanism stoppage detecting means M3. |
