| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device and a method for controlling interference check for improving work efficiency of a plurality of robots. Ž<P>SOLUTION: The interference check controlling device for avoiding interference between robots having an overlapped part in an operation region includes a speed/position memory means 111, an inter-robot distance calculation means 112 calculating the distance between robot constitution parts based on the speed/position data, an interference determination region calculation means 113 finding the interference determination region of the robot constitution parts based on the speed/position data, and an interference determination means 114 comparing the interference determination distance defined by the interference determination region to the distance between the robot constitution parts to determine presence/absence of interference. The interference determination region calculation means 113 expands the interference determination region corresponding to the movement speed and movement direction based on speed data with directivity to determine the expanded interference determination region, and the interference determination means 114 compares the interference determination distance defined by the expanded interference determination region with the mutual distance between the robot constitution parts, thus determining presence/absence of interference. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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