ROBOT MOTION PROGRAM GENERATING APPARATUS

A robot motion program generating apparatus generates a motion program for moving a robot, avoiding an obstacle. The apparatus comprises a section inputting a taught trajectory of the robot, a section setting a tolerance region around the trajectory inputted by the trajectory inputting section, a se...

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Bibliographische Detailangaben
Hauptverfasser:	SUGANO, Atsuko, MIYAKOSHI, Yoshihiro
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS HAND TOOLS MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING TECHNICAL SUBJECTS COVERED BY FORMER USPC TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ARTCOLLECTIONS [XRACs] AND DIGESTS TRANSPORTING
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Beschreibung
Zusammenfassung:	A robot motion program generating apparatus generates a motion program for moving a robot, avoiding an obstacle. The apparatus comprises a section inputting a taught trajectory of the robot, a section setting a tolerance region around the trajectory inputted by the trajectory inputting section, a section setting a motion-point group that is a collection of the motion points, by determining motion points of the robot in the tolerance region set by the region setting section, and iterating a task of connecting a source motion point to a subsequent motion point through a line segment, avoiding the obstacle, starting from one end and ending at the other end of the trajectory, and a section generating the motion program, based on the motion-point group set by the point-group setting section.