TEACHING METHOD FOR TEACHING MOTION TO PLURALITY OF ROBOTS AND TEACHING DEVICE TO BE USED IN THE SAME

摘要

PROBLEM TO BE SOLVED: To provide a method for teaching motion to a plurality of robots so that the robots do not interfere with each other while avoiding an obstacle when the robots work simultaneously in a work region.SOLUTION: First a teaching value for robots to move while avoiding an obstacle under of a motion command is generated without considering interference between robots. When making the robots move based on the teaching value, robot passing regions, aggregate of tracks which are drawn by points constituting the robots are calculated on a virtual space, so as to determine whether or not the robot passing regions cross each other. When it is determined that the regions cross each other, a restriction condition under which any robot cannot pass therethrough is additionally established, and under such condition a teaching value for the robots to move while avoiding the obstacle under the motion command is generated again. This can provide a teaching method that eliminates the necessity for timing adjustment for motion of the robots in order to avoid the robots from interfering with each other.SELECTED DRAWING: Figure 8