TRAJECTORY GENERATION DEVICE OF GRASPING MECHANISM, TRAJECTORY GENERATION METHOD OF GRASPING MECHANISM, TRAJECTORY GENERATION PROGRAM OF GRASPING MECHANISM, RECORDING MEDIUM, AND ROBOT PROGRAM GENERATION DEVICE

摘要

Provided is a technique which, when transporting multiple parts (P) in order, can appropriately calculate the path of a hand (25) for transporting the parts (P) while avoiding collisions with obstacles while the arrangement conditions of said obstacles are changing. When performing a transport operation for transporting a part to be transported (P(n)), on the basis of obstacle arrangement information (Io) indicating the arrangement of the parts (P) that are obstacles, a simulation is performed of operations of the hand (25) for implementing the transport operations on the multiple parts (P) in order while avoiding collisions with the obstacles, and a transport trajectory of the hand (25) is outputted (trajectory simulation). Trajectory simulation is performed while updating the obstacle arrangement information (Io) in response to changes in the arrangement of the parts (P) arising due to the transport operations. Therefore, while the arrangement state of the obstacles is changing, it is possible to appropriately calculate a path of the hand (25) transporting the parts (P) while avoiding collisions with obstacles.