| 摘要 |
<p>Path creating means (1) has a constraint intermediate posture creating section (10), which defines a constraint curve in a joint angle space. The path creating means (1) probabilistically creates intermediate postures in the joint angle space. The constraint intermediate posture creating section (10) projects the probabilistically created intermediate postures to the constraint curve and creates projected intermediate postures. The projected intermediate postures are connected and a path not interfering with an obstacle (environment object) in a work space is created.</p> |
