Title:
INDUSTRIAL ROBOT AND INTERFERENCE PREVENTING METHOD THEREFOR
Document Type and Number:
Japanese Patent JPH04184508
Kind Code:
A
Abstract:
PURPOSE:To make interference extent registering work simpler, smoother, and quicker and, at the same time, to prevent the occurrence of an interference checking error by providing a controller which sets and registers articulation angle data indicating the attitude of a robot main body as interference extent data. CONSTITUTION:In order to decide the starting point of an interference extent, a robot main body 1 is set to a marginal position at which the main body 1 does not interfere with a work by operating the main body 1 from a console board 3 in a teaching mode. The CPU of a controller 2 registers the starting point of the interference extent by setting values fed back from position detectors provided on each shaft of the main body 1 to the controller 2 to designated constants upon receiving a command. Then the main body 1 is set to the attitude of the end point of the interference extent and the end point is registered. Therefore, the registering work can be made smoother and quicker and, at the same time, the occurrence of an interference checking error can be prevented.
Inventors:
YOSHINO KATSUHIKO
Application Number:
JP31519190A
Publication Date:
July 01, 1992
Filing Date:
November 20, 1990
Export Citation:
Assignee:
TOKICO LTD
International Classes:
B65H13/00; G05B19/42; (IPC1-7): B65H13/00; G05B19/42
Attorney, Agent or Firm:
Masatake Shiga (2 outside)