Title:
ROBOT PATH DETERMINATION DEVICE, ROBOT PATH DETERMINATION METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2020/066949
Kind Code:
A1
Abstract:
One embodiment of the present invention is a robot path determination device provided with: a data creation unit that, for three-dimensional data of a robot, peripherally-arranged objects, and the like, disposes one or more spheres so as to create approximate-shape data of the three-dimensional data; an interference determination unit that determines whether or not interference of the approximate-shape data occurs when the robot is moved; a candidate point setting unit that, when it is determined that interference is to occur, sets a plurality of candidate points serving as candidates for passing points through which the robot passes, on the surface of a spherical body having a larger diameter than the spherical body at which interference is to occur, in the approximate-shape data; a candidate point specification unit that specifies, from among the plurality of candidate points, candidate points at which interference of the approximate-shape data occurs neither in a path from a start point to each candidate point nor in a path from the candidate point to an end point; and a display control unit that performs display such that a passing point can be selected from among the specified candidate points.
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Inventors:
DOAN THANH NHAT (JP)
YOSHIDA MASAHIRO (JP)
KOSUGA MASAKATSU (JP)
TSUNETA HARUHIRO (JP)
YOSHIDA MASAHIRO (JP)
KOSUGA MASAKATSU (JP)
TSUNETA HARUHIRO (JP)
Application Number:
PCT/JP2019/037124
Publication Date:
April 02, 2020
Filing Date:
September 20, 2019
Export Citation:
Assignee:
NIDEC CORP (JP)
International Classes:
B25J9/22; B25J19/06; G05B19/4093
Foreign References:
| JPH0934524A | 1997-02-07 | |||
| JP2009233757A | 2009-10-15 | |||
| JPH05250023A | 1993-09-28 | |||
| JPH1020916A | 1998-01-23 | |||
| JP2004046542A | 2004-02-12 | |||
| JP2017217143A | 2017-12-14 | |||
| JPH0981228A | 1997-03-28 | |||
| JPS63158620A | 1988-07-01 | |||
| JP2005081405A | 2005-03-31 | |||
| JP2009291540A | 2009-12-17 |
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