| 摘要 |
Realized is a structure capable of deflection correction drive, in which actuator performance can be effectively utilized, and actuator performance U does not exceed a first constraint value as an upper limit. A target trajectory calculation unit 101 uses a target value Xref and a second constraint value Uopt to calculate a target trajectory thetaref of a robot. A deflection correction trajectory theta1ref is calculated from the target trajectory thetaref and a deflection correction amount Deltatheta to calculate the actuator performance U necessary for realizing the deflection correction trajectory theta1ref. A determination unit 105 determines whether the actuator performance U is within a range of a first constraint value and whether a difference between the actuator performance U and the first constraint value is within a range of a predetermined value. If the conditions are not satisfied, a constraint value change unit 106 changes the second constraint value Uopt to repeat the calculation. If the conditions are satisfied, the deflection correction trajectory theta1ref at that point is decided as the trajectory of the robot. |
