| 摘要 |
Even when a first moving condition is not satisfied, when it is determined that a second moving condition is satisfied and at the same time an object (2) belongs to a second classification, an operation of a robot (1) is controlled so as to prompt the obj ect (2) to move according to a first pattern or an arbitrary pattern. The "first moving condition" is a condition that the robot (1) is capable of moving without being obstructed by the object 2, when the robot (1) moves according to a current target position trajectory. The "second moving condition" is a condition that the robot is capable of moving according to the current target position trajectory without being obstructed by the object 2, when the object 2 is displaced according to the first pattern. The "second classification" means a classification of the object which is capable of being moved by acting of a force from the robot (1) |
