| 摘要 |
PROBLEM TO BE SOLVED: To perform stable and highly accurate cooperative control of a robot and an aerospace vehicle by providing an operation plan correcting means to correct an operation plan of the robot by generating an operation correcting signal to control an attitude of the aerospace vehicle in a condition of being judged that operation on the basis of the opration plan is influential. SOLUTION: A judging part 13 judges a condition of being exerted on attitude angles of an aerospace vehicle on the basis of an operation plan by comparing a momentum of a system by uniting the aerospace vehicle and a robot 10 and the attitude anglesϕ,ϕandθof the aerospace vehicle, and its corrective information is outputted to first and second plan correcting parts 15 and 16. The first and the second plan correcting parts 15 and 16 generate operation correcting signals on the basis of the corrective information from the judging part 13, and output them to an arm operation plan part 11. The arm operation plan part 11 calculates an operation correcting plan to practice motional stopping, speed reduction, stopping or orbital correction of the robot 10 of the basis of the operation plan on the basis of the inputted correcting signals.
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