CONTROL DEVICE, ROBOT SYSTEM, AND METHOD FOR GENERATING CONTROL DATA

摘要

An arbitrary position is set as a designation point (10) with respect to an articulated manipulator (101). When a control command value pertaining to the motion of an articulated manipulator is applied, a restrained control command value for controlling the motion of the articulated manipulator in a restrained state in which the degree of freedom of at least one motion of the articulated manipulator is restrained at the designation point is generated.