INFORMATION PROCESSING METHOD, ROBOT SYSTEM, ARTICLE MANUFACTURING METHOD, AND INFORMATION PROCESSING UNIT

• Main Author: KIMURA GEN
• Format: Patent
• Language: English; Japanese
• Published: 27.05.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; MANIPULATORS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; TRANSPORTING

To enable generation of a path along which an article model can be moved precisely, speedily, and securely.SOLUTION: In a virtual space, generation of a branch constituting a tree structure model is attempted (S103-S105). It is determined whether interference between the branch the generation of which has been attempted and an article model B stationary in the virtual space has occurred or not (S106). If no interference has occurred, the branch the generation of which has been attempted is added to the tree structure model (S107). If interference has occurred, an article model A is moved from the origin of the branch the generation of which has been attempted, by means of dynamic simulation (S108) based on a dynamic condition related to the interference, and a moving path is added, as a branch, to the tree structure model (S109). If each step is repeated and a start point and an end point are connected through the tree structure model, a branch connecting from the start point to the end point on the tree structure model is generated as a path for moving the article model A (S111).SELECTED DRAWING: Figure 11 【課題】精密、高速かつ確実に物体モデルを移動させる経路生成を行えるようにする。【解決手段】仮想空間において、木構造モデルを構成する枝の生成を試行する（Ｓ１０３〜Ｓ１０５）。生成を試行した枝と、仮想空間で静止している物体モデルＢとの干渉が発生したか否かを判定する（Ｓ１０６）。干渉が発生していなければ、生成を試行した枝を木構造モデルに追加する（Ｓ１０７）。干渉が発生している場合は、干渉に関する動力学条件に基づき動力学シミュレーション（Ｓ１０８）によって、生成を試行した枝の起点から物体モデルＡを移動させ、その移動路を木構造モデルに枝として追加する（Ｓ１０９）。各工程を繰り返し実行し、始点と終点とが、木構造モデルを通じて接続した場合は、木構造モデル上の始点から終点までを接続する枝を、物体モデルＡを移動させる経路として生成する（Ｓ１１１）。【選択図】図１１