| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device of a robot which can start execution of a task earlier and can prevent motion of the robot from getting discontinuous. SOLUTION: A predicted position and a predicted posture of a target in each execute phase of the task are predicted in advance by a future external estimation part 130, and a desired trajectory of the robot R at least in the execute phase to be performed next by the robot R is generated. COPYRIGHT: (C)2012,JPO&INPIT |
