| 摘要 |
PURPOSE:To prevent malfunctions of a robot by using a sequencer independent of a controller that controls robot actions to control the robot sequence. CONSTITUTION:All sequences X of robots 10 and 12 are stored to a sequencer 28. When the 1st robot 10 reaches a prescribed area, the sequences X are stored to a controller 20 as the sequence Y. Thus the robot 10 performs actions based on the sequence Y. When these actions are through, the sequence (X-1) excluding said actions is stored to the sequencer 28. When the 2nd robot 12 reaches a prescribed area, the sequence (Y-1) is stored to a controller 22. Then the robot 12 performs actions according to the sequence (Y-1). Then the sequence (X-2) is stored to the sequencer 28. |
