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Device for avoiding interference

  • US 6,597,971 B2
  • Filed: 05/09/2002
  • Issued: 07/22/2003
  • Est. Priority Date: 05/09/2001
  • Status: Active Grant
First Claim
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1. An interference avoiding device for avoiding an interference between an operational device attached to a robot and a peripheral object, comprising:

  • storing means for storing information on shape/dimensions of the operational device, and shape/dimensions and position/orientation of the peripheral object;

    interference determining means for determining an interference between the operational device and the peripheral object based on the information stored in said storing means and a commanded position/orientation of the operational device;

    position/orientation setting means for setting a new position/orientation of the operational device for avoiding the interference between the operational device and the peripheral object in place of the commanded position/orientation of a tool, when the interference avoiding device is determined that an interference will occur by said interference determining means.

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