| 摘要 |
PROBLEM TO BE SOLVED: To attain position and attitude control for a fingertip effector of a desired robot manipulator while avoiding an obstacle and the peculiar attitude of the robot manipulator. SOLUTION: An operable degree calculating unit 5 calculates the operable degree on the basis of joint angle informationϕ. An image processor 6 processes an image from a visual device 3 and outputs respective image characteristics. A manipulator image characteristic estimating unit 7 judges whether a manipulator 1 is hidden by an obstacle 2 or not, outputs the manipulator image characteristic when the manipulator is not hidden, while, calculates an estimating value of the manipulator image characteristic when it is hidden. A feedback controller 10 calculates a command value to the robot manipulator on the basis of the difference between the manipulator estimated image characteristic and the obstacle image characteristic, the difference between the finer tip position image characteristic and the target position image characteristic, and the operable degree.
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