COLLISION AVOIDANCE METHOD, CONTROL DEVICE, AND PROGRAM

摘要

The present invention relates to an interference avoidance method to avoid interference with an obstacle of a robot arm (120) in which an upper arm unit (122) is connected to a forearm (124) through an elbow unit (134). In a state where positions of both ends of the robot arm (120) are fixed, movable areas of the upper arm unit (122) and the forearm unit (124) are calculated. An intersection point of a first line on a boundary of an obstacle area including the obstacle and the movable area is calculated. An interference avoidance range in which the robot arm does not interfere with the obstacle area in the movable area is determined on the basis of the calculated intersection point.