Interference determination apparatus for articulated robot, interference determination method for articulated robot, interference determination program for articulated robot, and path planning apparatus

摘要

An interference determination apparatus includes: an acquisition unit that acquires region information indicating regions set in a configuration space in which the angles of rotation of two or three specific joints of an articulated robot are indicated by coordinate axes, the regions including an interference region in which the robot is determined to interfere with itself or an obstacle based on the magnitudes of the angles of rotation of the specific joints, and a non-interference region in which the robot is determined to not interfere with itself or an obstacle based on the magnitudes of the angles of rotation of specific joints; and a determination unit that determines whether the robot interferes with itself or an obstacle, by determining whether coordinates indicating a posture determined by the angles of rotation of the specific joints belong to the interference region or the non-interference region indicated by the acquired region information.