METHOD FOR INSPECTING HAND COLLISION, RECORDING MEDIUM HAVING RECORDED SOFTWARE FOR REALIZING HAND COLLISION INSPECTING METHOD, AND HAND COLLISION INSPECTING DEVICE

摘要

PROBLEM TO BE SOLVED: To prevent a hand from colliding with an object. ;SOLUTION: The hand shape date preset by a hand shape data setting section 1 is coordinate-converted into the handling position attitude by a coordinate converting section 2, the position measuring range is set by a position measuring range setting section 3 on the basis of the coordinate-converted hand shape, data, three-dimensional position measurement in a point in the set position measuring range is performed by a three-dimensional position measuring section 4, a collision analyzing point required for collision inspection is extracted from the point in which the three-dimensional position measurement is performed by a collision analyzing point extracting section 5, and the presence or absence of the point of collision is judged by a collision judging section 6 on the basis of the extracted collision analyzing point.;COPYRIGHT: (C)1998,JPO