| 摘要 |
PROBLEM TO BE SOLVED: To provide a collision detecting method for a plurality of robots capable of detecting beforehand a collision between links and with an obstacle by easy and speedy operations regardless of the number of robot manipulators and links and shapes of the links and of achieving cooperative operations of the respective robot manipulators. SOLUTION: To control the plurality of robot manipulators comprising the plurality of links a, b, c, d, e, f and g, respectively, a plurality of spheres 5 enveloping the outer shapes of the respective links a, b, c, d, e, f and g are set. By calculating changes of distances between centers of the respective spheres 5 set with respect to the respective links a, b, c, d, e, f and g in accordance with the operations of the respective links a, b, c, d, e, f and g and detecting interference between the respective spheres 5, it is determined whether or not the respective links a, b, c, d, e, f and g are collided with each other. COPYRIGHT: (C)2009,JPO&INPIT
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