ROBOT, AND INTERFERENCE DISCRIMINATING METHOD AND INTERFERENCE DISCRIMINATING DEVICE

摘要

PROBLEM TO BE SOLVED: To realize technology for discriminating the existence of interference between a robot hand of a robot and a peripheral article.;SOLUTION: The robot 10 is provided with an arm link 12, the robot hand 14, a camera 18, an image processing means 17, a work position computing means, a travel route computing means, a travel space computing means and a discriminating means. The work position computing means computes position and posture of the work on the basis of a result of processing of images of the work, which is taken by the camera 18, by the image processing means 17. The travel route computing means computes a travel route of the robot hand 14 on the basis of position and posture of the work. The travel space computing means computes shape and position of a travel space of the robot hand 14 on the basis of a result of the movement of shape including the robot hand 14 along the transference route. The discriminating means compares shape and position of the travel space of the robot hand 14 with shape and position of the space, in which the article exists, to discriminate existence of interference between them.;COPYRIGHT: (C)2007,JPO&INPIT