DETERMINATION DEVICE FOR INTERFERENCE OF ARTICULATED ROBOT, DETERMINATION METHOD FOR INTERFERENCE OF ARTICULATED ROBOT, DETERMINATION PROGRAM FOR INTERFERENCE OF ARTICULATED ROBOT, AND ROUTE PLAN GENERATION DEVICE

摘要

To allow for shortening of a time required for determining interference of an articulated robot.SOLUTION: An interference determination device 10 includes: an acquisition part 102 acquiring region information representing an interference region which is defined on the basis of measure of a rotational angle of a specified joint as a region in which the articulated robot interferes with itself or an obstacle, and a non-interference region which is defined on the basis of measure of a rotational angle size of a specified joint as a region in which the articulated robot does not interfere with itself or an obstacle; and a determination part 103 which determines that a coordinate which represents an attitude defined by the rotational angle of the specified joint, belongs to either the interference region or the non-interference region represented by region information acquired by the acquisition part 102, and thus, determines whether or not the articulated robot interferes with itself or the obstacle. The above interference region and non-interference region are set in a configuration space with rotational angles of two or three specified joints of the articulated robot as a coordinate axis.SELECTED DRAWING: Figure 3