Title:
INTERFERENCE AVOIDANCE DEVICE
Document Type and Number:
WIPO Patent Application WO/2018/092860
Kind Code:
A1
Abstract:
This interference avoidance device (2), which allows a tool part to avoid interfering with peripheral devices, is provided with: a gripping-point candidate generation unit (10) which calculates a plurality of gripping point candidates (10a) at which the tool part can grip an object to be gripped by the tool part, on the basis of measurement data (1a) obtained by measuring the states of peripheral devices and model information (3a) about a robot and peripheral devices; and a trajectory calculation unit (11) which calculates, on the basis of the plurality of gripping point candidates (10a), an interference avoiding trajectory (2a), through which the tool part approaches the object to be gripped without interfering with peripheral devices.
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Inventors:
SHIRATSUCHI KOJI (JP)
OKUDA HARUHISA (JP)
OKUDA HARUHISA (JP)
Application Number:
PCT/JP2017/041345
Publication Date:
May 24, 2018
Filing Date:
November 16, 2017
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B25J13/00
Foreign References:
| JP2012223845A | 2012-11-15 | |||
| JP2015197312A | 2015-11-09 | |||
| JP2014205209A | 2014-10-30 | |||
| JP2014180705A | 2014-09-29 | |||
| JP2010155328A | 2010-07-15 | |||
| JP2016132086A | 2016-07-25 |
Attorney, Agent or Firm:
TAKAMURA, Jun (JP)
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