The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 07, 2023
Filed:
Mar. 05, 2021
Omron Corporation, Kyoto, JP;
Haruka Fujii, Kyotanabe, JP;
Omron Corporation, Kyoto, JP;
Abstract
An acquisition sectionacquires a pose at a clock time ti and a pose at a clock time tj for each of plural robots, and acquires structural information. Based on structural information a computation sectioncomputes positions of the prescribed part for each of the robots at the clock times ti, tj and at a midway clock times tc. A possibility determination section determines a possibility of interference, based on any overlap between added-margin regions resulting from addition of a prescribed margin to a circumscribing shape containing positions of the prescribed part at the clock times ti, tj, and tc for each of the robots. In cases in which there is a possibility of interference, an end determination sectionsets tc so as to be a new ti or a new tj, and causes processing of the computation sectionand the possibility determination sectionto be executed repeatedly until a spacing between the prescribed parts satisfies an end condition. When determined that the end condition has been satisfied, an interference determination sectiondetermines whether or not there is interference between the prescribed parts between the robots at any of the positions at ti, tc, and tj.