| 摘要 |
<P>PROBLEM TO BE SOLVED: To prevent a musical instrument from having a short life owing to damage to a contact position. <P>SOLUTION: When the robot is to play by moving a stick tip perpendicularly to a percussion surface of a drum 2, a command decomposition section 21 decomposes input three-dimensional position command data indicating a bottom dead center of the stick tip into a horizontal component and a vertical component. A variance component addition section 22 adds variance component data to horizontal component data. A command composition section 23 puts together the horizontal component data to which the variance component is added and vertical component data decomposed by the command composition section 21 to generate position command data. A playing command section 24 sends out an operation command signal to a manipulator 8 according to the position command data generated by the command composition section 23. The manipulator 8 brings an arm 10 down to the bottom dead point according to command signal to play, but variance in percussion point on the percussion surface of the drum 2 is obtained at this time because of the variance component. <P>COPYRIGHT: (C)2007,JPO&INPIT |
