| 摘要 |
Provided is an automatic obstruction avoidance method for a robot, the method including the following: a geometric model representation step (S40) for representing a robot (100) as a geometric model (M); a virtual position calculation step (S30) for calculating a virtual position (Pp) of the robot, corresponding to a prescribed point on an initial trajectory; an interference determination step (S50) for determining whether the geometric model in the virtual position interferes with an incursion prohibited region; a pass-through position determination step (S70) for, in a case where it was determined that the geometric model would interfere, calculating a position the state of which is such that the interference portion of the geometric model is pushed out from the incursion prohibited region to an operation region by virtual repulsion, and determining the calculated position as a pass-through position; an updated trajectory determination step (S80) for determining, as an updated trajectory (Tb), the trajectory of a hand in a case where the hand changes from a current position to a final position after passing through the pass-through position; and a step for repeatedly executing the steps from an initial trajectory determination step to the updated trajectory determination step, assuming that the pass-through position determined in the latest pass-through position determination step is the current position in the initial trajectory determination step. |
