| 摘要 |
PROBLEM TO BE SOLVED: To achieve interference avoidance of a robot device with a small memory amount without setting priority. SOLUTION: In an interference avoiding apparatus, a block division part 31 calculates a virtual space block coordinate value of each virtual space block at a virtual space from a real space block coordinate value of each real space block obtained by dividing the movable area of the robot devices 10-1, 10-2. The block division part 31 stores in a memory 33 a virtual space block coordinate value set which is a set of the virtual space block coordinate value and a predetermined number of virtual space offset block coordinate values obtained by allowing it to be offset with a predetermined distance in a predetermined direction. When interference avoiding control request information is supplied from robot control devices 20-1, 20-2, an interlock control part 32 carries out interference avoiding control based on the interference avoiding control request information and the virtual space block coordinate value set and transmits entrance permission information or error information to the robot control devices 20-1, 20-2. COPYRIGHT: (C)2011,JPO&INPIT
|
