| 摘要 |
PURPOSE:To attain the operation space identification system identifying the specific space by providing a means storing position information of a specific space decided in the operating in the operating space of a robot and discriminating whether or not a commanded position to the robot is within the specific space. CONSTITUTION:A controller 3 outputs a command data (a) inputted from a position command means 4 to a discriminating means 6 before outputting it to the robot 2, and as the result, when the discriminating means 6 outputs no inhibit signal (f), the command data (a) is outputted to the robot 2. The combination of coordinates of each robot element of the robot 2 representing a desired specific space is inputted and stored in a space specifying means 5. When the command data (a) is inputted from the controller 3, the discriminating means 6 compares a combination data (c) of coordinates of each robot element stored in the space specific means 5 with the command data (a) and discriminates whether or not the command position corresponding to the command data (a) is within the specific space. Then when the command position is within the specific space, the controller 3 outputs the inhibit signal (f) and the robot 2 does not move into the specific space. |
