| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for checking interference of a robot arm with an interference range in real time by providing a simple robot arm model in a robot controller. SOLUTION: A robot arm is modeled by a combination of simple square poles. The current positions on a Z-axis of the upper surfaces and bottom surfaces of square poles 1, 2A and 3 are compared with those of the upper surface and the bottom surface of an interference range 7. After checking the interference, the current positions on the X-Y coordinate of squares 11, 13 as X-Y planar projection views of the square poles 1, 3 which is judged to have possibilities of interference are compared with the current position on the X-Y coordinate of a square 14 as the X-Y planar projection view of the interference range 7, and interference is checked.
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