| 摘要 |
PROBLEM TO BE SOLVED: To reduce a calculation amount required for path generation.SOLUTION: An operation part determines an initial point and a terminal point based on a parameter value of respective joints J1 to J6 of a robot (S1). With respect to the joints J4, J5, J6 which belong to one of two groups into which the joints of the robot are classified, the operation part determines a joint interpolation path (plural restriction points) which restricts a path of the joints operating between the initial point and the terminal point (S2). The operation part constructs a configuration space in which positions of the joints J1, J2, J3, which belong to the other of said two groups, are made as coordinate axis (S3). With respect to a point of combination between an attention point and plural restriction points in the configuration space, the operation part executes interference determination as to whether the robot interferes with an obstacle or not, and executes a search for a path for avoiding interference of the robot with an obstacle (S4 to S8).SELECTED DRAWING: Figure 3 |
