PURPOSE:To simply check interference between a tool of a robot and its environment by applying a method for judging an intersection between a segment and a face in a three-dimensional space to the discrimination of an intersection between the locus of the robot approximate to the straight line and a model. CONSTITUTION:A 2nd segment for constituting a part of either one of a robot model or a tool model, constituting a part of a previously selected 1st segment 1 or the tool model and approximating a locus drawn by the relative movement of a previously selected point to a straight line is determined and the existence of the intersection between a face 2 for constituting a part of a work model or an environment model and previously selected and the 1st or 2nd segment is checked. Thus, interference is checked by virtually operating a three- dimensional model, and when interference is generated, an interference receding point is automatically formed. Consequently, a job data file appropriate for working can be completed through simulation.
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