WORKPIECE TURNABLE AREA DECISION DEVICE, WORKPIECE MOVEMENT ROUTE DECISION DEVICE AND WORKPIECE MOVEMENT ROUTE DECISION METHOD

摘要

PROBLEM TO BE SOLVED: To provide a device which can effectively shorten tact time despite of being applicable to general-purpose use of a mounting device.;SOLUTION: The workpiece turnable area decision device is provided with an interference coordinate acquisition part 201 to acquire a coordinate blocking the turning of a workpiece, a maximum turning radius acquisition part 202 to acquire a maximum turning radius larger than a radius of a maximum circle drawn by the workpiece, and a turning impossible area preparation part 205. A tangent inner area surrounded by tangents that are respectively extended along the x and y directions of a circle with an interference point as a center and the maximum turning radius as a radius is a turning impossible area. It is also provided with a start coordinate decision part 702, an arrival coordinate decision part 703, and a turning movable route decision part 704 that is provided with an evasion route decision means 705 to evade the turning impossible area linearly.;COPYRIGHT: (C)2006,JPO&NCIPI