To prevent a mutual collision between movable parts in a robot by deciding a robot occupied quadrant including an arm and a working head while setting a present position or a motion position as a center and determining a collision condition between respective robots on the basis of the robot occupied quadrant.
A robot, in which right hand group SCARA robots 19A, 19B are paired with left hand group SCARA robots 19C, 19D, is used, and in a working area 29, a lateral dimension is L while a longitudinal dimension is M, and then, a working area home position (0, 0) is located on a of side of the left hand group robot 19B when the working area 29 is represented by the X-axis and the Y-axis. Respective working heads used for an inspection of a printed circuit board are movable freely, and if probe heads in the four corners point the same point, a collision will happen, however, if each of the respective robots is stored within each quadrant when the working area 29 is divided into four quadrants while using the pointed point as a home position under this condition, it is determined that the four robots do not interfere with each other because each point pin has a clearance.
TERADA HIDETSUGU
KANEKO SATOSHI
NAKAZAWA TOJI
