| 摘要 |
PROBLEM TO BE SOLVED: To improve productivity by determining a shape, mass, a surface coefficient of friction and a moving trajectory of an object to be grasped and determining an intermediate location of the object to be grasped and the number of times of shifting the object from one hand to the other. SOLUTION: When the number of times of trial Na in different grasping methods does not reach the number of times of repetitionαthat a designer preliminarily determines, trials are repeated in the different grasping methods (step 200). Trials ofαtimes are determined for a step and loops are repeated till the present number of times of step Nb reaches a target number of times of stepβ(step 210). While steps are repeated, a grasping method which is comparatively excellent in evaluation is selected as a grasping method at the next step among grasping methods which have been obtained, the grasping method is made a basic one and the grasping method becomes one to which a change is added (step 230). After the termination of loops, the best grasping method is selected among obtained controlling methods. From an initial grasping point, a grasping point after an object to be grasped is shifted from one hand to the other and an intermediate location of the object to be grasped when the shifting is performed, a positional trajectory and torque trajectory of each joint can be calculated and an automatic control is performed.
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