Self-interference determination device
AssigneeFanuc Corporation
InventorYuuki Kimoto
Life of this patent
Estimating the term…
Abstract
This self-interference determination device is provided with a link shape correction unit that corrects link shapes on the basis of a specified distance between link shapes at which links of a robot comprising a plurality of links are regarded as having undergone self-interference, and a shape interference determination unit that determines the presence or absence of self-interference on the basis of the link shapes.
Claims12
A self-interference determination device, comprising:
- a link shape correction unit configured to correct a link shape based on a specified distance between link shapes in which links of a robot comprising a plurality of links are considered to be a self-interference,
- a shape interference determination unit configured to determine a presence or absence of the self-interference based on the link shape, and
- a robot stoppage command unit configured to calculate a current minimum distance between the link shapes and a current relative velocity between the link shapes and to transmit a safe-stop command for safely stopping the robot based on the current minimum distance and the current relative velocity.
A self-interference determination device, comprising a shape interference determination unit configured to determine, for an indeterminable link for which a presence or absence of a self-interference cannot be determined from only a position or angle of a specified link of a robot comprising a plurality of links, regardless of the position or angle of links other than the specified link, the presence or absence of the self-interference based on whether or not link shapes approach each other within a specified distance.
A self-interference determination device, comprising:
- a self-interference formula definition unit configured to define a self-interference formula for determining a possibility of a self-interference of a robot comprising a plurality of links, and
- a self-interference formula determination unit configured to determine the possibility of the self-interference based on the self-interference formula, wherein
- the self-interference formula definition unit defines, for an indeterminable link for which a presence or absence of the self-interference cannot be determined from only a position or angle of a specified link regardless of the positions or angles of links other than the specified link, the self-interference formula based on a shape including a movable region of all links from the indeterminable link on a base side of the robot to the indeterminable link on a tip side of the robot.
A self-interference determination device for determining a self-interference of a first link and a second link, comprising:
- an indeterminable link determination unit configured to determine whether or not one of the first link and the second link is an indeterminable link for which a presence or absence of the self-interference cannot be determined from only a position or angle of the link when the first link and the second link are considered to be the self-interference, and
- an interference determination unit configured to determine the self-interference of the indeterminable link based on the determination results.
Dependencies are inferred from the claim text.