| 摘要 |
PURPOSE:To handle a change in external environment speedily by providing plural target positions and position controllers which are as many as the target positions, and summing up the outputs of the respective position controllers and exerting the influence of slave target positions upon a main target position. CONSTITUTION:A target position generating part 4 generates plural movement target position variables under the generation command for the plural movement target positions. Then, a device which compresses or expands the target position variable consists of a weight function generating part 14 and a weighting part 15. The respective compressed or expanded target position variables are supplied to the position controllers 6a-6c to perform speed control and position control to the respective target positions. Those outputs are summed up by a position command adding part 16, whose output is converted 10 in terms of coordinates to send one target position command to a robot body 13 through a positioning control part 12.
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