| 摘要 |
An element 22 which determines a manipulation amount for controlling a motion state of each joint 4 of a robot 1 calculates a pseudo inverse matrix A* used for calculating the manipulation amount, 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. Setting a provisional value of the adjustment parameter k by gradually increasing the provisional value from a predetermined initial value, calculating 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 is repeated, and 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*. |
