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US 6,185,480 B2Granted
Interference preventing method for industrial robots
AssigneeToyo Kohan Co., Ltd.
InventorsToshiyuki Takahashi, Atsushi Nakajima, Yukimasa Shiomichi
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AssigneeToyo Kohan Co., Ltd.
InventorsToshiyuki Takahashi, Atsushi Nakajima, Yukimasa Shiomichi
Estimating the term…
An interference preventing method for industrial robots comprising a step (II) of reading a present position of the hand, a step (III) of computing the difference between the taught target position and the present position of the hand, a step (IV) of judging whether this difference is within a predetermined range or not, a step (V) of setting a moving speed of the hand to a predetermined normal speed when the difference is within the predetermined range, a step (VI) of setting the moving speed of the hand to a predetermined low speed when the difference is out of the predetermined range, and a step (VII) of moving the hand automatically to the target position at the set speed. When the hand is moved over a long distance in the case of which interference is liable to occur, the moving speed thereof is low; when the hand is moved over a short distance, the moving speed thereof is normal. Therefore, the hand can be stopped easily just before interference occurs, and the overall operation efficiency can be improved.
An interference preventing method for industrial robots in which a hand of a robot is automatically moved toward a taught target position, comprising
A handling robot which repeats an operation to pick up a work from a predetermined position and transfer the work to another position in place in accordance with a taught path and an operational sequence, the robot comprising
Dependencies are inferred from the claim text.