Title:
An interference evading method, a control device, and a program
Document Type and Number:
Japanese Patent JP6137155
Kind Code:
B2
Abstract:
A collision avoidance method according to the present invention avoids collision of a robot arm 120 including an upper arm part 122 and a forearm part 124 connected to each other via an elbow part 134 with an obstacle. Movable areas of the upper arm part 122 and the forearm part 124 in a state in which positions of both ends of the robot arm 120 have been fixed are calculated. Intersections of the movable areas with a first line on a boundary surface of an obstacle area including the obstacle are calculated. A collision avoidance range in which the robot arm 120 does not collide against the obstacle area in the movable areas is determined based on the intersections that have been calculated.
Inventors:
Morihira Tomohisa
Application Number:
JP2014249269A
Publication Date:
May 31, 2017
Filing Date:
December 09, 2014
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B25J19/06
Domestic Patent References:
| JP9314487A | ||||
| JP2012240144A | ||||
| JP5228854A |
Foreign References:
| US5347459 | ||||
| US4973215 |
Attorney, Agent or Firm:
Ken Ieiri