| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control system, a robot, a robot control method, and a program for stably performing robot control using Jacobian at a high speed.SOLUTION: A robot control system includes a Jacobian acquisition unit for acquiring a Jacobian used for robot control, and a robot control unit for acquiring an inverse Jacobian as a generalized inverse matrix Jof a matrix J by J=Vdiag[1/λ]VJor J=JUdiag[1/λ]Uwhen for a matrix J indicating a Jacobian, a matrix with the unique vector of JJ set as a column vector is V, a matrix with the unique vector of JJset as the column vector is U, and a matrix with an inverse number of the unique value λ of JJ set as a diagonal element is diag[1/λ], and controlling the robot based on the acquired inverse Jacobian. |
