| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a control device of a robot which can cause the robot to perform tasks associated with interaction while preventing processing load from increasing. <P>SOLUTION: In a first motion section D1 where a non-contact state with a first target T1 transits to a contact state and a second motion section D2 where the contact state with the first target T1 transits to the non-contact state, determination of interference of the robot R or a second target T2 unified with the robot R with the first target T1 is skipped. Meanwhile, in a third motion section D3 which follows these motion sections, determination of the interference including the first target T1 takes place. <P>COPYRIGHT: (C)2012,JPO&INPIT |
