| 摘要 |
PURPOSE:To detect the existence of interference simply and precisely without any operation by finding out the working point positions or small working areas of the opposite robot out of plural robots interfering with each other as interference information in respective working points. CONSTITUTION:A memory means 1 stores positional and working order information of plural working positions charged by respective robots and also stores the working points or small working areas of the opposite robot out of the plural robots interfering with each other as the interference information. An execution command means 2 reads out said information from the memory means 1, a working point deciding means 3 compares the read-out interference information with the working point position of the opposite robot, and when these robots interfere with each other, the command means 2 reads out the information of the succeeding working point. If there is no interference, the deciding means 3 outputs the positional information of the working point to an execution means 4 to position a working means 5. |
