| 摘要 |
PROBLEM TO BE SOLVED: To reduce the possibility of contact with an obstacle at a low cost.SOLUTION: A robot includes: a robot main body; an arm installed on the robot main body; a first sensor installed on the robot main body, observing the surrounding area; a second sensor installed on a tip part of the arm, observing the surrounding area in a predetermined limited range; a control part which controls the track of the arm on the basis of observation results by the first sensor and the second sensor. When the arm is made enter into an area unobserved by the first sensor, the control part determines the track of the arm to the unobserved area in order that an inner product of a vector in the observation direction of the second sensor and a vector in the direction of entry of the arm into the unobserved area can become smaller. |
