| 摘要 |
PURPOSE:To prevent an interference of a robot and an obstacle by storing a start zone data in a storage device, and deciding whether plural movable shaft tip parts are in its zone or not, by a start zone deciding means. CONSTITUTION:When an center point G of a wrist part 15 of a robot 10 is moved to a point B from a start point A, a start zone data for preventing an interference of the robot and an obstacle 50 is inputted by an operating board 30, and stored in a memory 34. When driving of the robot 10 is started, said zone data is read out by a computer 23, and a start zone D is set by a zone setting program. The center point G of said wrist part 15 detects and calculates a turning angle of a shoulder part 12, etc. by an encoder 24 in a driving circuit 25 and calculates a coordinate. In this way, whether the center point G is in the start zone or not is decided, and if it exists in said zone, a program data is executed, and if it does not exist, its execution is suspended, an abnormality is displayed on a display board 32, and the robot 10 is stopped. |
