| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot arm control device capable of optimally gripping a target object, a control method and a program. <P>SOLUTION: The robot arm control device 1 controls a robot arm 2 to grip a target object. In addition, the robot arm control device 1 includes: a robustness calculation means for figuring out, for each attitude of the robot arm 2 when gripping the target object, a direction in which the robustness of gripping with respect to perturbation is high when the position of the robot arm 2 is perturbed in a plurality of directions; and a selection means for selecting, among a plurality of attitudes of the robot arm 2, an attitude of the robot arm 2 where a direction in which a predetermined difference is large and a direction in which robustness calculated by the robust calculation means is high get closer. <P>COPYRIGHT: (C)2013,JPO&INPIT |
