To provide a device for reliably finding whether a robot arm and a parts feeding device interfere with each other.
A method for checking an interference generates expanded interference volume data obtained from expansion processing based on relative velocity data calculated from both robot arm translational velocity data that are vector data wherein direction and velocity of a movement of the robot arm 100 operated in a direction are defined, and translational velocity data of the parts feeding device 200 that are vector data for defining direction and velocity of a movement of a workpiece conveying device operated in a direction. The method for checking an interference executes an intersection determining calculation for confirming whether the robot arm 100 and the parts feeding device interfere with each other, using the expanded interference volume data, and shape data of the robot arm 100 or shape data of the parts feeding device 200, according to position/posture data of the robot arm and position/posture data of the parts feeding device 200, thereby determining whether an interference occurs.
| JPS62168287U | 1987-10-26 | |||
| JP2008065755A | 2008-03-21 |
Osamu Suzawa
Kazuhiko Miyasaka