| 摘要 |
PROBLEM TO BE SOLVED: To provide a route planning device for planning a route with small calculation amounts while controlling the posture of a traveling object at the time of moving the traveling object from an initial position to a final position. SOLUTION: A route preparing means 1 is provided with a constraint intermediate posture preparing part 10. The constraint intermediate posture preparing part 10 defines a constraint curved surface in a joint angle space. Also, the route preparing means 1 performs the probabilistic generation of an intermediate posture in the joint angle space. The constraint intermediate posture preparing part 10 generates a projection intermediate posture by projecting the intermediate posture whose probabilistic generation has been performed to the constraint curved surface. The projection intermediate posture is connected so that a route which does not interfere with any obstacle(environmental object) in an operation space can be prepared. COPYRIGHT: (C)2006,JPO&NCIPI
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