Collision avoidance method, control device, and program
First Claim
1. A collision avoidance method of a robot arm that avoids collision of the robot arm with an obstacle, the robot arm including a first arm and a second arm connected to each other via a joint part, the method comprising:
- calculating, as movable areas of the first arm and the second arm, trajectories drawn by the first arm and the second arm in an XYZ coordinate system when the first arm and the second arm are rotated in a state in which positions of both a first end and a second end of the robot arm have been fixed;
calculating intersections that are points, in the XYZ coordinate system, in which the movable areas and a first line intersect, wherein the first line is set on a boundary surface of an obstacle area that is coordinate data including positions of the obstacle, and wherein the first line is used for determining a collision of the robot arm with the obstacle; and
determining boundary angles of an arm angle of the robot arm based on the intersections that have been calculated, and determining, when the movable areas are separated by the boundary angles, a side of the separated movable areas which does not collide against the obstacle area, as a collision avoidance range in which the robot arm does not collide against the obstacle area in the movable areas.
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Accused Products
Abstract
A collision avoidance method according to the present invention avoids collision of a robot arm 120 including an upper arm part 122 and a forearm part 124 connected to each other via an elbow part 134 with an obstacle. Movable areas of the upper arm part 122 and the forearm part 124 in a state in which positions of both ends of the robot arm 120 have been fixed are calculated. Intersections of the movable areas with a first line on a boundary surface of an obstacle area including the obstacle are calculated. A collision avoidance range in which the robot arm 120 does not collide against the obstacle area in the movable areas is determined based on the intersections that have been calculated.
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Citations
8 Claims
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1. A collision avoidance method of a robot arm that avoids collision of the robot arm with an obstacle, the robot arm including a first arm and a second arm connected to each other via a joint part, the method comprising:
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calculating, as movable areas of the first arm and the second arm, trajectories drawn by the first arm and the second arm in an XYZ coordinate system when the first arm and the second arm are rotated in a state in which positions of both a first end and a second end of the robot arm have been fixed; calculating intersections that are points, in the XYZ coordinate system, in which the movable areas and a first line intersect, wherein the first line is set on a boundary surface of an obstacle area that is coordinate data including positions of the obstacle, and wherein the first line is used for determining a collision of the robot arm with the obstacle; and determining boundary angles of an arm angle of the robot arm based on the intersections that have been calculated, and determining, when the movable areas are separated by the boundary angles, a side of the separated movable areas which does not collide against the obstacle area, as a collision avoidance range in which the robot arm does not collide against the obstacle area in the movable areas. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A control device that controls a robot arm including a first arm and a second arm connected to each other via a joint part, the control device comprising:
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a movable area calculation unit that calculates, as movable areas of the first arm and the second, trajectories drawn by the first arm and the second arm in an XYZ coordinate system when the first arm and the second arm are rotated in a state in which positions of both a first end and a second end of the robot arm have been fixed; an intersection calculation unit that calculates intersections that are points, in the XYZ coordinate system, in which the movable areas and a first line intersect, wherein the first line is set on a boundary surface of an obstacle area that is coordinate data including positions of an obstacle, and wherein the first line is used for determining a collision of the robot arm with the obstacle; and a collision avoidance range determination unit that determines boundary angles of an arm angle of the robot arm based on the intersections that have been calculated, and determines, when the movable areas are separated by the boundary angles, a side of the separated movable areas which does not collide against the obstacle area, as a collision avoidance range in which the robot arm does not collide against the obstacle area in the movable areas.
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8. A non-transitory computer readable medium storing a program for achieving a collision avoidance method of a robot arm that avoids collision of the robot arm with an obstacle, the robot arm including a first arm and a second arm connected to each other via a joint part, the program causing a computer to execute the following steps of:
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calculating, as movable areas of the first arm and the second arm, trajectories drawn by the first arm and the second arm in an XYZ coordinate system when the first and second arm are rotated in a state in which positions of both a first end and a second end of the robot arm have been fixed; calculating intersections that are points, in the XYZ coordinate system, in which the movable areas and a first line intersect, wherein the first line is set on a boundary surface of an obstacle area that is coordinate data including positions of the obstacle, and wherein the first line is used for determining a collision of the robot arm with the obstacle; and determining boundary angles of an arm angle of the robot arm based on the intersections that have been calculated, and determining, when the movable areas are separated by the boundary angles, a side of the separated movable areas which does not collide against the obstacle area, as a collision avoidance range in which the robot arm does not collide against the obstacle area in the movable areas.
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Specification