Title:
INTERFERENCE AVOIDANCE METHOD
Document Type and Number:
Japanese Patent JP2017131990
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide an interference avoidance method which can quickly perform a calculation for avoiding the interference of a robot arm.SOLUTION: This interference avoidance method avoids the interference of a robot arm 120 in which an upper arm part 122 and a front arm link part 124 are connected to each other via an elbow part 134 with an obstacle. Movable regions of the upper arm part 122 and the front arm link part 124 in a state that positions of both ends of the robot arm 120 are fixed are calculated. An interference avoidance range in which the robot arm 120 does not interfere with an obstacle region in the movable regions is decided. θ indicating a position Eof the elbow part 134 is calculated so as to satisfy a target posture of a fingertip part 126 on a plane including the position of the elbow part 134 and the positions of both the ends of the robot arm 120 which are set in the interference avoidance range. Joint angles are calculated using the calculated θ.SELECTED DRAWING: Figure 4
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Inventors:
MORIHIRA TOMOHISA
Application Number:
JP2016012674A
Publication Date:
August 03, 2017
Filing Date:
January 26, 2016
Export Citation:
Assignee:
TOYOTA MOTOR CORP
International Classes:
B25J19/06
Domestic Patent References:
| JP2014050952A | 2014-03-20 | |||
| JP2014018912A | 2014-02-03 | |||
| JP2009226552A | 2009-10-08 |
Foreign References:
| US20110172819A1 | 2011-07-14 |
Other References:
清水 昌幸，他４名: ""関節の可動範囲を考慮に入れた７自由度冗長マニピュレータの解析的逆運動学解法"", 日本ロボット学会誌, vol. 第２５巻，第４号，p.606-617, JPN6019009509, May 2007 (2007-05-01), JP, ISSN: 0004000313
Attorney, Agent or Firm:
Ken Ieiri
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