| 摘要 |
<P>PROBLEM TO BE SOLVED: To solve such a problem that optical communication for controlling a motor for driving a plurality of rotary shafts is not carried out since an optical path for performing communication in accordance with rotary movement of a body or rotary movement of an arm is not secured. Ž<P>SOLUTION: An arm type robot apparatus 1 as a movable device includes: a plurality of the first optical communication parts arranged at a rotary part 11 as a movable part which operates by an operation command; second optical communication parts A, B, C, and D arranged around the rotary part 11; a combination information generation part for generating information of combinations of one first optical communication part and one second optical communication part communicable at plural time points after elapse of time from a current time point based on the operation command and positional information of the rotary part 11 at the current time point; a selection part for selecting the one longest continuous combination of the combinations at the plural time points; and a setting part 16 for setting the second optical communication part in the one selected combination. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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