| 摘要 |
A robot) having a plurality of power driven links (12-22) with corresponding transducers (24,30,34,46,50,54) generating signals responsive to the position of each robot link; a portable light weight manually manipulable robot simulator at a location remote from the robot and having links (112-122) simulating those of the robot and with corresponding transducers (124, 130, 134, 146, 150, 154) generating signals responsive to the position of each simulator link; signal recording and storage means (201) for storing the simulator link position signals representing a program; robot control means (200) responsive to the program and which controls the robot links; an analyzer (210) responsive to the actual and desired position signals of the robot links and which generates error signals due to inherent limitations of the robot; an indicator (212) responsive to the analyzer providing humanly perceptible indication of the feasibility of the robot to perform the program of desired mechanical responses imparted to the simulator. |
