To provide a control method and a controller for a carrying robot which surely prevent interference with a reciprocating machine by simple control when carrying a workpiece.
In the control method, the operation of the carrying robot is controlled so as not to cause carrying parts 36, 38, etc. of the carrying robot and metal molds 19 of press machines to interfere with each other when carrying the workpiece w between adjacent press machines out of a plurality of linearly arranged press machines 10-1A, 10-1B, ... by the carrying robot 30. Positions of metal molds during workpiece processing by press machines are successively detected, and operations of carrying parts of the carrying robot are controlled on the basis of a data table 54 wherein relations between respective positions of metal molds and respective positions of carrying parts which don't interfere with metal molds in respective positions are stored.
NAKAMURA HISANORI
YANO HIROYUKI
HONMA TAKAAKI
HAMAHATA MITSUHARU
NACHI FUJIKOSHI CORP
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