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 robotInfo
- 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
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.
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)
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)
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 |
-
1987
- 1987-09-28 JP JP62240912A patent/JP2581102B2/en not_active Expired - Lifetime
Patent Citations (2)
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)
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 |
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