| 摘要 |
PROBLEM TO BE SOLVED: To attain task followability while realizing a high-speed control cycle.SOLUTION: Robot control equipment includes low-speed cycle computation means that designates an equality restriction using a task list, posture information, and task target value, updates an interference candidate list using the posture information and environment information, designates an inequality restriction using the interference candidate list and posture information, and calculates an optimal solution of an optimization problem in a low-speed cycle on the basis of the equality and inequality restrictions, high-speed cycle computation means that designates an equality restriction using the posture information, the task target value, and the task list received from the low-speed cycle computation means or used in the previous cycle, designates an inequality restriction using the posture information and the interference candidate list received from the low-speed cycle computation means or used in the previous cycle, calculates an optimal solution of the optimization program in a high-speed cycle using the optimal solution, which is received from the low-speed cycle computation means or used in the previous cycle, as an initial value on the basis of the equality and inequality restrictions, and thus works out posture information, and control means that performs control on the basis of the posture information.SELECTED DRAWING: Figure 1 |
