| 摘要 |
PROBLEM TO BE SOLVED: To obtain a command value generating device capable of preventing a plurality of joints from being greatly moved when passing through a singular point nearby region and capable of shortening an operation time by suppressing decrease of a tip end speed. SOLUTION: The command value generating device includes a singular point nearby region entry determining means 8 for determining entry into a previously set singular point nearby region or pass therethrough; and a nearby region calculating means 9 for calculating a start point of the singular point nearby region and an end point of the singular point nearby region on a tip end track of a robot in an operation when the entry into the singular point nearby region or pass therethrough is determined by the singular point nearby region entry determining means 8, wherein a joint position command is calculated based on a joint displacement at the start point and the end point, in a section between the start point of the singular point nearby region and the end point of the singular point nearby region on the tip end track of the robot. COPYRIGHT: (C)2009,JPO&INPIT
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