초록 ▼

A robot controller capable of finding a mistaught path and avoiding dangers involved in a real motion of a robot without using an off-line simulation system. An operation program for confirming safety is played back with the robot control system arranged such that a simulation function is on, a real

A robot controller capable of finding a mistaught path and avoiding dangers involved in a real motion of a robot without using an off-line simulation system. An operation program for confirming safety is played back with the robot control system arranged such that a simulation function is on, a real motion is off, and comparison processing is on. When a played-back path designated by each block is compared with a reference path using data on interpolation points, an interpolation point ordinal index i is incremented by "1" (K1), an interpolation point on a reference path Tref(i) is read (K2) and compared with a corresponding interpolation point on the played-back path T(i). An index of distance d(i) and a distance evaluation index .DELTA.d(i) are calculated (K3, K4), and tool-tip orientation difference indices f(i) to h(i) and orientation-evaluation indices .DELTA.f(i) to .DELTA.h(i) are calculated (K5, K6). Based thereon, it is determined whether or not there is a path difference exceeding a reference value. The processing may be started with a real motion in an on-state, and the real motion of the robot may be nullified when a large path difference is found.

대표청구항 ▼

1. A robot controller having a function of simulating a motion path of a robot, comprising:means for storing a first and a second operation program, means for performing a playback operation of said first operating program, path memory means for storing data indicative of a first motion path describ

1. A robot controller having a function of simulating a motion path of a robot, comprising:means for storing a first and a second operation program, means for performing a playback operation of said first operating program, path memory means for storing data indicative of a first motion path described in said first operation program, means for performing a playback operation of the second operation program so that said robot does not perform a real motion, path comparison means for comparing data indicative of a second motion path described in said second operation program with said data indicative of said first motion path when the second operation program is played back, evaluating means for evaluating a difference between said second motion path and said first motion path, and output means for outputting result of the evaluation by said evaluating means.