Robot interference prevention control device

Abstract

A robot interference prevention control device reads in advance a teaching program of each robot, calculates a scheduled stop position for each robot when issuing a stop command after n number of interpolation periods from the current interpolation period, and checks whether or not interference would occur at the scheduled stop position of each robot. When the robot interference prevention control device judges that a robot will interfere with another robot, it outputs a stop command at the current interpolation period. Due to this, a stop command is output before n number of interpolation periods from the interpolation period where interference would occur and thereby the occurrence of interference can be prevented.

Description

technical field

[0001] The present invention relates to an interference prevention control device, which is used to make a plurality of robots work simultaneously, and to prevent interference between the robots when a part of the work area of ​​the robots overlaps. Background technique

[0002] When using multiple robots for joint work, it is necessary to prevent the robots from interfering with each other when the work areas of the robots overlap. As disclosed in Japanese Unexamined Patent Publication No. 60-99591, as a method for detecting the interference between robots, the following method is well known: using line segments to represent each connecting portion of the robot arm, performing robot operation simulation, and obtaining the relationship between the two line segments. If the distance between the closest parts becomes smaller than the predetermined distance D, it is determined that there is a possibility of interference with the corresponding robot arm. [0003...

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