| 摘要 |
PROBLEM TO BE SOLVED: To provide a method capable of quickly evaluating the accuracy of a robot track generated in an off line without using a Jacobian matrix. SOLUTION: A vertical shoulder specific point track S1 S2 of a coating robot is found out, a shortest distance between the track S1 S2 and a wrist part center track Qc Qt in horizontal coating which is found out in accordance with a work is found out, and in the case of evaluating the accuracy of a robot track in accordance with judgement whether the shortest distance is included within a set point or not, an intersection Sπbetween a planeπincluding the center track Qc Qt and the truck S1 S2 is found out, an intersection H between a perpendicular drawn from the intersection Sπand the track Qc Qt is found out and a distance between both the intersections Sπ, H is set up as the shortest distance.
|
