| 摘要 |
PROBLEM TO BE SOLVED: To calculate the joint angle instruction value of a manipulator automatically in order to realize the position and the posture of the manipulator to satisfy various conditions. SOLUTION: In an articulated manipulator 14 to install a tool 16 and a sensor 15 at the front end and near the manipulator 14, a new various condition weighted evaluation function producer 13; an evaluation function integration part 8; a passage producer 11 using a sensor data; a coordinates converter 10 to calculate a tool position Pt information, a tool postureθt information, a sensor original position Ps0 information, and on-passage feature point Ps information, from a passage Pd information and a joint angleθi information; a manipulator joint producer 9 to calculate the manipulator joint angleθi (next) by optimizing the integrated evaluation function Eh by all the informations Pd ,θi , Pt ,θt , Ps0 , and Ps ; and a joint angle controller 12 to control the joint angles one by one by inputting theθi (next), and outputting a driving instruction signal Tg; are provided.
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