| 摘要 |
PROBLEM TO BE SOLVED: To determine a revolute joint angle of a manipulator having high degree of redundancy without performing complicated computing having a large processing load. SOLUTION: A first link L1 to a seventh link L7 are regarded as a first elastic body 41 to a seventh elastic body 41 (natural length of each elastic body agrees with a length of each link), respectively, for the manipulator 1 connecting the first link L1 to the seventh link L7 by a first revolute joint J1 to a sixth revolute joint J6. All of the first to the sixth revolute joints J1 to J6 are opened after moving an end effector 3 to a target position while all of the first to the sixth revolute joints J1 to J6 are fixed. A process in which the first to the seventh elastic bodies 41 to 47 return to natural length is simulated, and the first to the sixth revolute joints J1 to J6 are controlled to obtain revolute joint angles at that time in order to move the end effector 3 to the target position.
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