| 摘要 |
While imparting, to an object dynamic model, a model operation amount (estimated disturbance) for bringing the behavior of an object (120) on the object dynamic model close to the actual behavior, a target motion path of the object (120) and a target object reaction path are determined for a predetermined period from now using the object dynamic model and the gate of a robot (1) for the predetermined period is generated temporarily using the paths. On the basis of the gate and the target motion path, geometrical constraint condition such as of interference of the robot (1) and the object (120), are checked and the move schedule of the object (120) and the gate parameters (e.g. scheduled landing position and posture) of the robot (1) are corrected appropriately according to the check, thus generating the gate of the robot (1). Consequently, a target gate satisfying the required geometrical constraint condition such as interference of the robot (1) and the object is generated while performing motion control of the robot (1) and reflecting the actual environmental condition in real time.
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