Instruction program compilation method of actual environmental ecad robot

摘要

Abstract Objective Compilation being easy, in change of actual environment of the robot oppositeDoing, draw up the instruction program which it can be adapted automatically. Solutions The assembly work due to contact inside the hypothetical space demonstrationnsutoreshiyon it does. On the basis of the information of the instruction, the assembly sectionTo extract the information of contact transition of the item and the suffering assembly part, the assembly partTo designate the contact state of the suffering assembly part as the node, contact state of bothTo display the transition between with intermediate representation and argument, the data of actual environment the meterMeasuring doing, argument of the intermediate program the numerical value which is based on the measurement dataReplacing, by combining, actual environmental ecadThe instruction program of robot operation is drawn up automatically.