Abstract: An apparatus and method for determining the feasibility of performing a programmed sequence of motions with a robot. Included is a work robot at a first location having a plurality of power-driven, signal-controlled, relatively massive links interconnected to permit relative motion in plural degrees of freedom, the work robot having a given mechanical response characteristic. Associated with each link of the work robot is a position transducer which generates a signal representative of the actual position of its associated work robot link. Also included is a portable, relatively lightweight, manually manipulable simulator robot located remote from the work robot. The simulator robot has a plurality of different interconnected links adapted for manual movement in different degrees of freedom for setting a program of desired mechanical responses, with the links and degrees of freedom of the simulator robot simulating those of the work robot.

Abstract: A system for evaluating whether a work-performing robot can perform a series of programmed motions is disclosed which includes means for continuously comparing the velocity of the various links of a robot simulator, which is manually moved through the sequence of motions to be programmed, against predetermined velocity limits associated with the corresponding links of the work-performing robot which will reproduce the programmed steps, and providing humanly perceptible alarm indications uniquely identifiable with the various robot links when the motions manually programmed on the robot simulator exceed the velocity limits of the work-performing robot. Additionally, the individual velocities of the various robot simulator links are summed, and the sum continuously compared against the power limit of the hydraulic pump driving the link actuators of the work-performing robot.