INTERFERENCE DETERMINATION METHOD, INTERFERENCE DETERMINATION SYSTEM, AND COMPUTER PROGRAM

Provided is an interference determination method with which whether or not a robot interferes with a surrounding object on a motion path can be computed. At least one intermediate position is set on a motion path of movement from the first position to the second position, a plurality of robot approximated bodies that are each constituted by combining at least two robot approximated bodies at a plurality of postures corresponding to each position are generated, a second combined approximated body constituted by combining at least two first combined approximated bodies is generated with respect to at least one focused part, and the second combined approximated body interferes with a surrounding object approximated body is determined.