ROBOT MOTION PATH CREATING DEVICE, AND ROBOT MOTION PATH CREATING METHOD

摘要

PROBLEM TO BE SOLVED: To provide a robot motion path creating device and a robot motion path creating method by which the motion path of a robot having seven or more joints can efficiently be created while evading unique posture. SOLUTION: This robot motion path creating device 1 for creating the motion path of a robot having seven or more joints is provided with: a connecting-point setting means 3 for setting a connecting-point defining the position and posture of a specific portion of the robot; number-of-joint setting means 3 and 5 for setting the number of joints used for generating candidates of the joint vector with respect to the connecting-point to six or less; a joint vector candidate generation means 6 for calculating the joint angle of each of the set number of joints required for the specific portion of the robot to take the positions and postures at the connecting-points, and for generating a plurality of candidates of the joint vector composed of the joint angles of the joints; and a selecting means 7 for selecting the combination of the candidates of the joint vectors of each connecting-point which does not cause the robot to take a singular posture from among the candidates of the joint vector at each connecting-point. COPYRIGHT: (C)2009,JPO&INPIT