SYSTEM FOR DETECTING ROBOT INTERFERENCE IN TEACHING OF COOPERATION WORK

摘要

PURPOSE:To improve the accuracy of detection of interference of robot hands by correcting a parameter only with the interference of links at the outermost tip of the robot in comparing the shortest distance between two line segments with a predetermined parameter. CONSTITUTION:In expressing each link of the robot as a center line segment, equations of straight line segments including end points A, B and C, D of each line segment are expressed by parameters at first. Then the shortest distance between robots is obtained and the minimum distance (d) smallest in them is obtained, it is compared with an interference parameter (c) and it is discriminated that an interference exists with d=c. Since the discrimination of interference is not accurate because of a semi-sphere at end points caused inevitably attended with the discrimination of the distance between center lines when the interference between robots takes place between hands, one of semi-spheres is eliminated to avoid the effect of the semisphere not existing actually in order to prevent it and it is corrected as an interference parameter ch.