JPS6484310A - Method for preventing interference at the time of off-line teaching of robot - Google Patents

Method for preventing interference at the time of off-line teaching of robot

Info

Publication number
JPS6484310A
JPS6484310A JP24091287A JP24091287A JPS6484310A JP S6484310 A JPS6484310 A JP S6484310A JP 24091287 A JP24091287 A JP 24091287A JP 24091287 A JP24091287 A JP 24091287A JP S6484310 A JPS6484310 A JP S6484310A
Authority
JP
Japan
Prior art keywords
model
robot
interference
segment
intersection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP24091287A
Other languages
Japanese (ja)
Other versions
JP2581102B2 (en
Inventor
Hitoshi Wakisako
Shinobu Sato
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Manufacturing Co Ltd
Priority to JP62240912A priority Critical patent/JP2581102B2/en
Publication of JPS6484310A publication Critical patent/JPS6484310A/en
Application granted granted Critical
Publication of JP2581102B2 publication Critical patent/JP2581102B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Abstract

PURPOSE:To simply check interference between a tool of a robot and its environment by applying a method for judging an intersection between a segment and a face in a three-dimensional space to the discrimination of an intersection between the locus of the robot approximate to the straight line and a model. CONSTITUTION:A 2nd segment for constituting a part of either one of a robot model or a tool model, constituting a part of a previously selected 1st segment 1 or the tool model and approximating a locus drawn by the relative movement of a previously selected point to a straight line is determined and the existence of the intersection between a face 2 for constituting a part of a work model or an environment model and previously selected and the 1st or 2nd segment is checked. Thus, interference is checked by virtually operating a three- dimensional model, and when interference is generated, an interference receding point is automatically formed. Consequently, a job data file appropriate for working can be completed through simulation.
JP62240912A 1987-09-28 1987-09-28 Interference prevention method in offline teaching of robot Expired - Lifetime JP2581102B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62240912A JP2581102B2 (en) 1987-09-28 1987-09-28 Interference prevention method in offline teaching of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62240912A JP2581102B2 (en) 1987-09-28 1987-09-28 Interference prevention method in offline teaching of robot

Publications (2)

Publication Number Publication Date
JPS6484310A true JPS6484310A (en) 1989-03-29
JP2581102B2 JP2581102B2 (en) 1997-02-12

Family

ID=17066517

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62240912A Expired - Lifetime JP2581102B2 (en) 1987-09-28 1987-09-28 Interference prevention method in offline teaching of robot

Country Status (1)

Country Link
JP (1) JP2581102B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007272309A (en) * 2006-03-30 2007-10-18 Komatsu Ltd Off-line teaching device for working robot
CN103485273A (en) * 2013-09-23 2014-01-01 浙江海洋学院 Movable island bridge

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61127007A (en) * 1984-11-26 1986-06-14 Hitachi Ltd Checking system for interference between robot and work
JPS6243706A (en) * 1985-08-21 1987-02-25 Hitachi Ltd Interference checking method in robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61127007A (en) * 1984-11-26 1986-06-14 Hitachi Ltd Checking system for interference between robot and work
JPS6243706A (en) * 1985-08-21 1987-02-25 Hitachi Ltd Interference checking method in robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007272309A (en) * 2006-03-30 2007-10-18 Komatsu Ltd Off-line teaching device for working robot
CN103485273A (en) * 2013-09-23 2014-01-01 浙江海洋学院 Movable island bridge

Also Published As

Publication number Publication date
JP2581102B2 (en) 1997-02-12

Similar Documents

Publication Publication Date Title
CA2408335C (en) Method and system for controlling a machine tool with direct transfer of machining data
EP0307091A2 (en) An object collision detection apparatus
EP0346839A3 (en) System and method for teaching robots
JPS57182205A (en) Controlling system of robot's locus
DE58909509D1 (en) Control method for a numerical machine tool or a robot.
EP0664186A4 (en) Machining information determining system and method, and machining process information determining system and method.
EP0366069A3 (en) Apparatus for automatically designing jig
EP0375418A3 (en) Parametric path modeling for an optical automatic seam tracker and real time robotic control system
EP0188623A4 (en) Method for setting tool coordinate system.
DE3579473D1 (en) METHOD FOR GRAPHICALLY PRESENTING AN IMAGE.
WO1985000316A1 (en) Method and apparatus for outlining the environment of a multiarticular duty machine by means of a laser pointer
KR850006085A (en) Object description
EP0389708A3 (en) Method of and apparatus for controlling velocity of industrial robot
EP0875809A3 (en) CAD/CAM apparatus and machining apparatus
JPS62264307A (en) Normal line vector arithmetic method
EP0460220A4 (en) Display system of numerical controller
JPS6484310A (en) Method for preventing interference at the time of off-line teaching of robot
Stokic et al. Simulation and control of robotic deburring.
EP0154028A3 (en) Working method in numerical control machine
Stouffer et al. ADACS-An automated system for part finishing
JPS5641031A (en) Die working method
EP0440816A4 (en) Robot control method
JPS6464016A (en) Robot teaching system
Townsend Creation of a factory simulation for a low-technology industry.
JPS61272805A (en) Numerical control method