Title:
METHOD FOR CONFIRMING ROBOT CONTROL DATA
Document Type and Number:
Japanese Patent JPS61253510
Kind Code:
A
Abstract:
PURPOSE:To confirm the working possibility of a robot by supplying the information on the position and posture of a tool against a working subject for calculation of each axial value of the robot which is used to decide said position and posture of the tool and checking whether said axial value is kept within a structural working range or not. CONSTITUTION:The control data described in a work coordinate system is supplied from an input device 3. A coordinate converting device 5 converts said control data into the one described in a robot coordinate system. The output of the device 5 is given to a joint angle displacement calculating device 6 which calculates the angle displacement degree of the joint, i.e., the axial value. The output of the device 6 is given to a checking device 7 which performs a checking action by means of a working range checking device 8 and an interference checking device 9. A display device 11 decides and displays whether the robot control data given from the device 3 is proper or not.
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Inventors:
ITO TAKASHI
NAGAO YOICHI
ISHIMI KATSUHIRO
NAGAO YOICHI
ISHIMI KATSUHIRO
Application Number:
JP9465185A
Publication Date:
November 11, 1986
Filing Date:
May 01, 1985
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD
International Classes:
B25J9/22; B25J9/06; B25J13/06; G05B19/4063; G05B19/4068; G05B19/4069; (IPC1-7): B25J9/06; B25J13/06; G05B19/405
Domestic Patent References:
| JPS6016385A | 1985-01-28 | |||
| JPS59183408A | 1984-10-18 | |||
| JPS59110581A | 1984-06-26 | |||
| JPS5973289A | 1984-04-25 |
Attorney, Agent or Firm:
Keiichiro Saikyo
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