| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To effectively determine a proper value of a parameter used for calculating a pseudo inverse matrix in a short time when determining an manupulation amount for controlling a motion state of each joint of the robot by a calculation processing using the inverse matrix. <P>SOLUTION: A joint manupulation amount deciding means 22 which determines the manipulation amount for controlling the motion state of each joint 4 of the robot 1 calculates the pseudo inverse matrix A* used for calculating the manipulation amount, by a predetermined equation using a value of an adjustment parameter k determined so that an absolute value of a determinant DET is equal to or more than a predetermined threshold. A robot controller repeats: setting a provisional value of the adjustment parameter k by gradually increasing the provisional value from a predetermined initial value; calculating the value of the determinant DET using the set provisional value; and determining whether the absolute value of the calculated determinant DET is equal to or more than the predetermined threshold. The provisional value of the adjustment parameter k when the determination result is true is determined as the value of the adjustment parameter k used for the calculation of the pseudo inverse matrix A*. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
