| 摘要 |
PROBLEM TO BE SOLVED: To provide a method of creating the route of a robot which finds the route in a short period with less computational load without causing backtrack. SOLUTION: Among the postures of the (n)th arm, a posture which does not interfere in an obstacle existing in a working space and has at least one posture in which the (n+1)th arm does not interfere in the obstacle is made to be an (n)th arm-maintainable posture. Based on an (n)th arm-maintainable posture collection table, a connectable relation table which collects postures successively movable from one posture to another posture between lattice points adjacent to each other is generated for each arm from the first arm to the (N)th arm. Then, whether a robot can reach a final target point is determined from the final target point and each arm target point. When it is determined that the robot can reach it, each arm from the first arm to the (N)th arm is sequentially started from an initial posture to the final target point and each arm target point, based on the connectable relation table, to prepare a moving route. COPYRIGHT: (C)2006,JPO&NCIPI
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