INTERFERENCE DETERMINATION APPARATUS, INTERFERENCE DETERMINATION METHOD, AND COMPUTER PROGRAM

摘要

PROBLEM TO BE SOLVED: To correctly determine in advance interference between a circumferential object except a holding target workpiece and a hand.SOLUTION: An interference determination apparatus includes: obtaining means for obtaining a distance image of space including a plurality of workpieces; identifying means for identifying a region of a holding target workpiece included in the plurality of workpieces from the obtained distance image; interference determination means for determining interference between a region included in the distance image and holding means for holding the holding target workpiece; and output means for outputting a result of the determination of the interference between a region except the region of the holding target workpiece and the holding means on the basis of the result of the interference determination of the interference determination means.