| 摘要 |
PURPOSE:To attain the autonomous working more than the teaching play-back control by setting the standard of decision for the next action of a robot in accordance with the state of route even in case the control subject point of the robot is set on any route. CONSTITUTION:Points A, A1-A3 are target points for teaching, and route numbers l, l+1 and l+2 are put on the routes among those target points. A controller stores the position numbers, route numbers and the moving speed of a robot when it moves through the route. If the control subject point of the moving robot gets out of the state of B1 on the route l and is set at a point C out of the route, the control subject point of the robot is reset to the state of B1 on the route l by a resetting means of the controller since the point C is not corresponding to position numbers n, n+1, n+2 and n+3 as well as route numbers, l, l+1 and l+2 respectively. Thus the robot is reset to the state of B1 and then shifted to the state of A1 without using any other deciding means. |
