Title:
ROBOT CONTROL METHOD AND ROBOT CONTROL SYSTEM
Document Type and Number:
Japanese Patent JP3639873
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a robot control method and a robot control system that can operate a robot by automatically selecting such an optimal working mode of the robot as minimizes interference between a robot arm and a tool, and a member such as a workpiece even for a workpiece of complex form.
SOLUTION: An action of the robot for given work is simulated to check whether an interference with a member occurs or not in a working path. Upon a determination finding an interference of the robot with a member, if an interference section length falls within a given value, the working path of the robot is broken at the point of interference and the robot is operated within the broken working path, and if the interference section length exceeds the given value, interference avoidance processing is executed before the robot is operated.
Inventors:
Yoichi Nagao
Hironobu Urabe
Fumihiro Honda
Junichi Kawabata
Hironobu Urabe
Fumihiro Honda
Junichi Kawabata
Application Number:
JP2001076169A
Publication Date:
April 20, 2005
Filing Date:
March 16, 2001
Export Citation:
Assignee:
Kawasaki Heavy Industries, Ltd.
International Classes:
B25J9/22; B23K9/12; G05B19/4093; (IPC1-7): B25J9/22; B23K9/12; G05B19/4093
Domestic Patent References:
| JP200075914A | ||||
| JP10296679A |
Attorney, Agent or Firm:
Taro Sosogi
Makoto Kojima
Makoto Kojima
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