| 摘要 |
<p>PURPOSE:To check the interference between a robot and its work at a high speed by approximating the robot with the center segment and the thickness and the surface of the work with a plane to obtain the shortest distance between said segment and plane and comparing the shortest distance with the prescribed threshold value. CONSTITUTION:A robot teaching system comprises an input device 11 which indicates the environments and working commands of the robot, a joint angle arithmetic unit 12 which calculates the angles of each joint of the robot, a memory 13 for those joint angles, a coordinate converting arithmetic unit 14 which displays the 3-dimensional posture of the robot into a 2-dimensional screen, a display device 15 and an interference detecting arithmetic unit 16 which detects the interference of the robot based on the time series data. Then the robot is approximated with the center segment and thickness. At the same time, the surface of a work is approximated with a plane. Furthermore the shortest distance is obtained between the segment showing the robot and said plane. When this distance is shorter than the threshold value obtained in consideration of said thickness, the interference is decided between the robot and the work. This can prevent the breakage of the work.</p> |
