Movement path generation method, the movement path generation device, the movement path generation program, robot arm controller, and robot arm control program

摘要

PROBLEM TO BE SOLVED: To create a moving route for moving from an optional current position to an optional target position easily in actual time, related to a method for generating a moving route, and the like, which generates a moving route along which a robot arm moves from a current position to a target position.;SOLUTION: The method includes: dividing a moving space of the robot arm into a number of sub-spaces to define representing coordinates for sub-spaces respectively and creating a moving route network constituted of moving routes connecting nodes placed in representing coordinates of sub-spaces with each other; and confirming the interference between the robot arm and an obstacle that prevents the movement of the robot arm for each moving route constituting the created moving route network to create an effective moving route network by extracting only effective moving routes avoiding interferences.;COPYRIGHT: (C)2012,JPO&INPIT