| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot device and a motion control method, lessening the dependence relationship between layers. SOLUTION: When a series of motions including element motions A, B and C is repeated performed, a schemer B learns a schemer A as a trigger schemer, a schemer C learns the schemer B as a trigger schemer and the series of motions is acquired as the routine work. After that, when an intentional bias is added to the motion value of the schemer A at the motion start of the schemer A to perform the schemer A, the schemer B adds a routine bias RSE to its own motion value. At the end of the schemer A, since the motion value of the schemer B to which the routine bias RSE is added is largest at that time, the schemer B is performed after the schemer A. Similarly the schemer C is performed after the schemer B. COPYRIGHT: (C)2007,JPO&INPIT
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