| 摘要 |
<p>PROBLEM TO BE SOLVED: To easily plan motion of a robot by including a process to decide a value against each parameter while practicing a command previously memorized including at least one parameter to generally decide complicated automated motion. SOLUTION: Knowledge concerning dimensions and a position of a truck received from a truck recognizer and knowledge concerning length of a link (boom 16, stick 18 and bucket 20) are required to decide how to safely load the bucket 20 on the truck in order to avoid collision at the time when the bucket 20 motions over the truck. Additionally, another inside parameter such as another coupler angle at the time when the boom 16 moves nearer to the truck can be also required. Additionally, when digging operation is finished, knowledge of speed of a boom coupler and an oscillating coupler and acceleration restriction evaluates time required to lift the bucket 20 and oscillate it to the truck.</p> |
