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Interference determination method, interference determination system and storage medium

A determination method and storage technology, which are applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problem of long determination time and so on.

Active Publication Date: 2021-12-28
ORMON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] In the interference judging method described in Patent Document 1, the presence or absence of shared area, so there is a problem that it takes a long time to determine whether there is interference

Method used

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  • Interference determination method, interference determination system and storage medium
  • Interference determination method, interference determination system and storage medium
  • Interference determination method, interference determination system and storage medium

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Experimental program
Comparison scheme
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no. 1 approach

[0068] First, use figure 1 , an example of an embodiment to which the present invention is applied will be described.

[0069] figure 1It is a hardware block diagram of the interference determination system 10 (an example of the "interference determination system") according to the first embodiment of the present invention. As shown in the figure, the interference judging system 10 has: an input unit 12 for inputting information; an arithmetic unit 14 (an example of “the arithmetic unit”) for processing information; and an output unit 20, which is equipped with A robot arm 16 (an example of a "robot") controlled based on the calculation result and a monitor 18 displaying the result.

[0070] The input unit 12 functions as an interface for inputting information to the computing device 14, and includes a means for inputting an initial posture of the robot arm 16, a target posture, obstacle information, and robot information related to the robot arm 16 as input data. .

[007...

no. 2 approach

[0096] Hereinafter, a second embodiment of the present invention will be described with reference to the drawings. It should be noted that the same reference numerals are assigned to the same parts, and repeated descriptions are omitted or simplified.

[0097] figure 1 It is a hardware block diagram of an interference judgment system 10 (an example of an "interference judgment system") according to the second embodiment.

[0098]Here, the CPU 24 of the computing device 14 (an example of the "computing device") reads out the program (including the computing processing shown in each flowchart etc. defining the present disclosure) stored in the storage device 26 (an example of the "storage unit"). program), or acquire the program from the outside using the interface 28 (an example of the "acquisition unit") and execute it. The temporary storage device (not shown) included in the computing device 14 is constituted by an SRAM (Static Random Access Memory) or the like, and tempora...

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Abstract

The present application provides an interference determination method, an interference determination system, and a storage medium capable of calculating at high speed whether there is interference between a robot moving along a motion path and surrounding objects. The first pose, the second pose, and the intermediate pose of the robot are set, and a first combined approximate body formed by combining a plurality of robot approximate bodies obtained by approximating the shape of the robot is generated. When it is determined that there is interference with a surrounding object, it is determined whether to generate a combined approximate body smaller than the first combined approximate body based on an amount indicating a distance between two adjacent robot approximate bodies.

Description

technical field [0001] The present invention relates to an interference judging method, an interference judging system and a computer program. Background technique [0002] When an industrial robot performs predetermined work, it takes a lot of time and effort to determine the movement path of the robot arm that performs the work through programming and teaching that actually moves the actual machine. [0003] On the other hand, if an algorithm that automatically generates a path between the start point and the end point when an operation start point (start point) and an operation end point (end point) is input can be expected to significantly reduce the time required for teaching an industrial robot . [0004] Patent Document 1 is known as a method for checking the presence or absence of interference with surrounding objects when controlling the operation of a robot arm of an industrial robot. This document discloses a disturbance prediction method as follows: Regarding t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/1607
Inventor 藤井春香中岛茜小岛岳史林剑之介
Owner ORMON CORP