| 摘要 |
PURPOSE:To safely start a robot from a midpoint of its moving course, by deciding whether or not the coordinate value of a stopping robot moving section is the allowable route extent of a scheduled route and controlling the movement of the robot to the next target teaching point in accordance with the judged result. CONSTITUTION:A whole robot system is constituted of the main body of a robot 300, control section 100 which controls the robot 300, and teaching section 200 which teaches the operating route of the robot. The control section 100 is provided with a magnetic bubble memory MBM which stores a control program and teaching program, system controlling processor SCP, etc., and drives and controls the robot main body 300. When the robot 300 is driven and controlled, it is decided whether or not the coordinate value of the stopping moving section of the robot, such as welding torch 311, etc., exists in a prefixed allowable route extent against a scheduled moving route between preset teaching coordinate points. If the moving section exists in the extent, the movement of the robot is controlled along the scheduled route from the stopping point to the next target teaching point.
|
