JP2005177875A5 - - Google Patents

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JP2005177875A5
JP2005177875A5 JP2003418375A JP2003418375A JP2005177875A5 JP 2005177875 A5 JP2005177875 A5 JP 2005177875A5 JP 2003418375 A JP2003418375 A JP 2003418375A JP 2003418375 A JP2003418375 A JP 2003418375A JP 2005177875 A5 JP2005177875 A5 JP 2005177875A5
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Japan
Prior art keywords
industrial robot
interference area
control point
interference
control
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JP2003418375A
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Japanese (ja)
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JP2005177875A (en
JP4134897B2 (en
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Priority to JP2003418375A priority Critical patent/JP4134897B2/en
Priority claimed from JP2003418375A external-priority patent/JP4134897B2/en
Publication of JP2005177875A publication Critical patent/JP2005177875A/en
Publication of JP2005177875A5 publication Critical patent/JP2005177875A5/ja
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Publication of JP4134897B2 publication Critical patent/JP4134897B2/en
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Claims (3)

予め設定された干渉領域に産業用ロボットの制御点が存在することを判別して、外部機器あるいは他の産業用ロボットの前記干渉領域への進入を禁止する産業用ロボットの干渉回避方法において、
前記制御点が前記干渉領域に進入するときは、前記制御点の指令位置が前記干渉領域内に入った時をもって「進入」と判断し、
前記制御点が前記干渉領域を離脱するときは、前記制御点のフィードバック位置が前記干渉領域を出た時をもって「離脱」と判断することを特徴とする産業用ロボットの干渉回避方法。 In the industrial robot interference avoidance method for determining that the control point of the industrial robot exists in a preset interference area and prohibiting the entry of the external device or other industrial robot into the interference area,
When the control point enters the interference area, it is determined as “entry” when the command position of the control point enters the interference area,
An industrial robot interference avoidance method characterized in that when the control point leaves the interference area, it is determined that the feedback point of the control point leaves the interference area. 予め設定された干渉領域に産業用ロボットの制御点が存在することを判別して、外部機器あるいは他の産業用ロボットの前記干渉領域への進入を禁止する産業用ロボットの制御装置において、
前記制御点が前記干渉領域に進入するときは、前記制御点の指令位置が前記干渉領域内に入った時をもって「進入」と判断し、前記制御点が前記干渉領域を離脱するときは、前記制御点のフィードバック位置が前記干渉領域を出た時をもって「離脱」と判断する判断手段を備えたことを特徴とする産業用ロボットの制御装置。 In an industrial robot control device that discriminates that a control point of an industrial robot exists in a preset interference area, and prohibits an external device or another industrial robot from entering the interference area,
When the control point enters the interference area, it is determined as “entry” when the command position of the control point enters the interference area, and when the control point leaves the interference area, A control apparatus for an industrial robot, comprising: a determination unit that determines that the feedback position of a control point is “separation” when the feedback position leaves the interference region. 請求項２記載の産業用ロボットの制御装置と、
前記制御装置によって制御される産業用ロボットと、を備えたことを特徴とするロボットシステム。 An industrial robot control device according to claim 2;
An industrial robot controlled by the control device.
JP2003418375A 2003-12-16 2003-12-16 Robot control method, control apparatus, and robot system Expired - Fee Related JP4134897B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2003418375A JP4134897B2 (en) 2003-12-16 2003-12-16 Robot control method, control apparatus, and robot system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2003418375A JP4134897B2 (en) 2003-12-16 2003-12-16 Robot control method, control apparatus, and robot system

Publications (3)

Publication Number Publication Date
JP2005177875A JP2005177875A (en) 2005-07-07
JP2005177875A5 true JP2005177875A5 (en) 2006-09-21
JP4134897B2 JP4134897B2 (en) 2008-08-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2003418375A Expired - Fee Related JP4134897B2 (en) 2003-12-16 2003-12-16 Robot control method, control apparatus, and robot system

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JP (1) JP4134897B2 (en)

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