Path Generation Device, Path Generation Method, and Recording Medium Storing Path Generation Program

A path generation method in which a computer executes processing comprising:

• an acquisition process of acquiring pose information relating to an initial pose and a target pose of a robot, position information relating to a position of the robot, obstacle information including a position of an obstacle present in a range of interference with the robot, and specification information relating to a specification including a shape of the robot;
• a setting process of, based on a positional relationship between the robot and the obstacle, setting a clearance amount representing an amount of clearance to avoid interference for at least one of the robot or the obstacle;
• and
• a path generation process of generating path information related to a path of the robot based on the initial pose and the target pose of the robot, the position of the robot, the position of the obstacle, the shape of the robot, and the clearance amount set by the setting process.

A non-transitory recording medium storing a path generation program that is executable by a computer to perform processing, the processing comprising:

• an acquisition unit that acquires pose information relating to an initial pose and a target pose of a robot, position information relating to a position of the robot, obstacle information including a position of an obstacle present in a range of interference with the robot, and specification information relating to a specification including a shape of the robot;
• a setting unit that, based on a positional relationship between the robot and the obstacle, sets a clearance amount representing an amount of clearance to avoid interference for at least one of the robot or the obstacle;
• and
• a path generation unit that generates path information related to a path of the robot based on the initial pose and the target pose of the robot, the position of the robot, the position of the obstacle, the shape of the robot, and the clearance amount set by the setting unit.