ROUTE SEARCH METHOD, ROUTE EVALUATION METHOD, ROUTE SEARCH SYSTEM, CONTROL DEVICE, ROBOT, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To more highly precisely evaluate a moving route of a robot.SOLUTION: A route search method is such that a joint angle and joint position of a movable part of a robot at each of nodes included in a first moving route are changed within predetermined ranges in order to produce one or more second moving routes. An evaluation value that gets larger as a change quantity increases is calculated based on the change quantity between nodes of each of the joint position and joint angle of the movable portion at each of the nodes included in each of the second moving routes. The first moving route is updated with one of the second moving routes whose evaluation value is the smallest.