{
  "abstract": "A path generator includes an object setter that sets an object model; a device setter that sets a device model as a model of a robot arm; a path generator that generates a path of the robot arm stepwise; and an interference determiner that performs interference determination on the object model and the device model after having moved along the path, based on a distance between the object model and the device model. If it is determined that there is a possibility of interference between the object model and the device model, at least one of the object setter or the device setter increases a density of point groups of the point group model, and performs interference determination by using the point group model with the increased density of the point groups. If determined that that there is no possibility of interference, the path generator generates a next path.",
  "assignees": [
    "KAWASAKI HEAVY IND LTD"
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  "authors": [
    "HOMMA TOSHIYUKI",
    "MATSUDA KIPPEI",
    "TAKAYAMA YUKI"
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    "name": "Creative Commons Attribution 4.0 International",
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  "published_at": "2026-09-15T19:10:55.839122Z",
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  "source_date": "2026-03-10",
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  "title": "Path generation device, path generation method, and path generation program",
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