抄録
In these days, the robots safety rules have been revised. It's say that If there is an appropriate safety skills for robots, you don have to set the guard fence around the robots. So the appropriate safety skills are required. In this research, we develop the real time planning method for 6-axis robot posture with referring point cloud information with using 3D distance sensor. This system needs to solve the interference avoidance problem and course correction problem. We develop how to choose the avoidance posture for interference avoidance problem. In the experiment we mount this system to the 6-axis manipulator. We check how this manipulator moves if there is an obstacle on the way of the start to goat. As a result, we observe the robots course correction against the obstacle. In this research, we realized the real time planning method for 6-axis robot posture with referring point loud information with using 3D distance sensor.
