JPS6435608A - Robot operating path generating system - Google Patents

Abstract

PURPOSE:To generate the shortest operating path being free from waste, irrespective of a kind of a robot machine, by generating a path for making a detour by a designated distance, when a linear path for connecting a start point of an operation of the robot and its end point has an intersection to an obstacle. CONSTITUTION:First of all, a robot operation start point Ps and its end point Pe are inputted and a straight line PsPe goes to a robot path. When the path PsPe has an intersection to an obstacle 1 being approximate to a rectangular parallelopiped, a processor 11 derives the first intersection A, and derives a cross line Lx which has crossed the surface being parallel to one face H and an X-Y plane containing the intersection A, for constituting the rectangular parallelopiped having the intersection A. Subsequently, in two points B1, B2 for crossing the cross line Lx and edges of both sides of the rectangular parallelopiped, the point B1 being near the end point Pe is selected, a point C separated by a designated distance alpha along the cross line Lx to the outside of the rectangular parallelopiped from the point B1 is derived, the point C is stored as a point on the next operating path of the start point Ps, the point C on the operating path is set as C Ps, a processing work from a new operation start point Ps is repeated, and by using a path for connecting successively the points, as the operating path, a data is generated.