| 摘要 |
<p>PURPOSE:To repair a fault in a controlling robot group with less manhour and at a short time when there is abnormality in the action of the robot group by hierarchy-dividing and controlling the robot groups. CONSTITUTION:The robot groups 3-26 are controlled by dividing them into five hierarchies of that on a moving axis driving device, that on a moving axis control means, that on a robot, that on a function at the time of assembly and that on whole assembly. When an abnormal part is sequentially specified from a high-order hierarchy toward the low-order hierarchy toward the low- order hierarchy if any abnormality occurs in the action of the robot groups 3-26, a robot in which the fault occurs, the part of the fault and the content of the fault are easily and accurately detected. Thus, the fault in the controlled robot groups 3-26 can be repaired with less manhour and at a short time when there is abnormality in the action of the robot groups 3-26.</p> |
