| 摘要 |
PROBLEM TO BE SOLVED: To avoid a singularity of a manipulator by slightly correcting the position of an auxiliary device. SOLUTION: When a singularity determining unit 26 determines the vicinity of a singularity, a correction moving device target value calculating unit 27 corrects an auxiliary device target value Jsta(t) to calculate a correction auxiliary device target value Jsta(t)' so that the posture of a manipulator at the next time becomes out of a range of the vicinity of the singularity while maintaining the position and posture of a tool front end to a work at the next time. A second coordinate converting/calculating unit 28 converts a tool target value worldPta(t) into a tool target value defined in a manipulator coordinate systemΣbase, using the corrected auxiliary device target value Jsta(t)'. A correction target joint angle calculating unit 29 carries out inverse kinematics calculation on the converted tool target value worldPta(t)" defined in the manipulator coordinate systemΣbase to calculate a correction target joint angle Jmta(t)". The correction target joint angle Jmta(t)" and the corrected auxiliary device target value Jsta(t)' are outputted to the manipulator 11 and the moving device 12. COPYRIGHT: (C)2009,JPO&INPIT
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