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公开(公告)号：EP1114703A4
公开(公告)日：2009-04-29
申请号：EP99943253
申请日：1999-09-09
IPC分类号： B25J9/16 , B25J9/22 , G05B19/425 , B25J5/02
CPC分类号： B25J9/1664 , G05B19/425 , G05B2219/40385
摘要： A robot off-line teaching method for determining the last position and the last posture of a robot (2) when the robot (2) capable of stopping at an arbitrary location on a traveling axis (1) and taking an arbitrary position at the arbitrary location starts from an arbitrary initial location while taking an initial posture and moves while changing the position and posture so that its control point (5) moves to a movement target (7). The last position is determined on the traveling axis (1) of the robot (2) in such a way that the distance between the coordinate origin (3) of the robot (2) and the movement target point (7) is the shortest.
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公开(公告)号：EP1020383A4
公开(公告)日：2004-06-09
申请号：EP98950378
申请日：1998-10-23
发明人： NOGUCHI YASUHIKO , KUWAHARA KOICHI , KOGA AYUMI , AKIBA KEISHI
CPC分类号： B65G61/00 , B65H54/2821 , B65H54/2824 , B65H54/385 , B65H2701/31 , G05B2219/40006
摘要： An area (22) where the planar shape of a pallet is shown is displayed on the screen of a computer and a figure (23) showing the planar shape and orientation of an object is displayed on another area of the screen different from the area (22) of the screen. The figure (23) is moved to a required position in the area (22) and the orientation of the figure (23) is changed to a required orientation to determine the placement of the figure (23) in the area (22). Similarly, the display and placement of the figure (23) are repeated to form the loading pattern of the object on the pallet.
摘要翻译： 指示托盘的平面图的区域（22）显示在计算机的显示屏幕上，指示平面图的图案（23）和所述商品的方向显示在与所述的区域（22）分开的位置上 显示屏幕，并且所述图案（23）移动到所述显示屏幕上的所述区域（22）的指定位置，由此通过改变所述图案（23）来确定所述区域（22）中的所述图案（23）的布局， 通过重复所述图案（23）的布置的显示和决定来准备所述托盘上的货物的装载模式。
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