| 摘要 |
PROBLEM TO BE SOLVED: To optimize drive of a robot when making a holding unit of the robot follow the displacement of a plate and operate, by holding the plate displaced in bending by using a bending machine, with the holding unit of the robot moving along a traveling axis, and by driving each arm of the robot at each articulation and also moving the robot along the traveling axis.SOLUTION: A plurality of behavior patterns of a robot when following by changing a position of a base arm 17A of the robot 13 relative to a holding position are obtained. A behavior pattern is selected from these obtained behavior patterns by using evaluation functions (f1-fn), and the robot is driven by using the selected behavior pattern. |
