Setting method and setting apparatus for operation path for articulated robot

An apparatus for setting an operation path for an articulated robot including an end effector, said apparatus comprising:

• an internal space-defining section for defining an internal space which is partially surrounded by an arm or electrodes of said end effector;
• a workpiece-extracting section for extracting a portion of a workpiece to be welded existing in said internal space as an objective workpiece portion of said workpiece;
• and
• an interference-investigating section for investigating whether interference occurs between said end effector and said objective workpiece portion when said end effector is operated.

A method for setting an operation path for an articulated robot for operating an end effector between operation points for a workpiece, said method comprising:

• a narrow-area operation path-setting step of setting a narrow-area operation path for retracting said end effector from said operation point to a point located near an end of said workpiece without interfering in said workpiece and another obstacle based on shapes of said obstacle and said workpiece near said operation point, said end effector being arranged at said operation point for said workpiece;
• said narrow-area operation path-setting step comprising:
• an internal space-defining step of defining an internal space which is partially surrounded by an arm or electrodes of said end effector;
• and
• an extracting step of extracting a portion of said workpiece to be welded existing in an internal space as an objective workpiece portion of said workpiece;
• an interference-investigating step of investigating whether interference occurs between said end effector and said objective workpiece portion when said articulated robot is operated, and
• a wide-area operation path-setting step of setting a wide-area operation path for effecting operation from a start point to an arrival point by combining predetermined prescribed operations provided that said start point and said arrival point reside in predetermined points located near said end of said workpiece.

An apparatus for setting an operation path for an articulated robot for operating an end effector between operation points for a workpiece, said apparatus comprising:

• a narrow-area operation path-setting section for setting a narrow-area operation path for retracting said end effector from said operation point to a point located near an end of said workpiece without interfering in said workpiece and another obstacle based upon shapes of said obstacle and said workpiece near said operation point, said end effector being arranged at said operation point for said workpiece;
• said narrow-area operation path-setting comprising:
• an internal space-defining for defining an internal space which is partially surrounded by an arm or electrodes of said end effector;
• a workpiece-extracting section for extracting a portion of said workpiece to be welded existing in said internal space as an objective workpiece portion of said workpiece;
• and
• an interference-investigating section for investigating whether interference occurs between said end effector and said objective workpiece portion when said articulated robot is operated, and
• a wide-area operation path-setting section for setting a wide-area operation path for effecting operation from a start point to an arrival point by combining predetermined prescribed operations provided that said start point and said arrival point reside in predetermined points located near said end of said workpiece.