| 摘要 |
PROBLEM TO BE SOLVED: To operate a robot through the shortest route to an object and to accelerate its operation by estimating the object position of an tracking operation by repeatedly calculating it based on the speed of an operation object and the operation time of the robot. SOLUTION: A time tm which is needed for a robot to operate from the position R of the robot at a time tr when it starts a tracking operation to the position P of its work is calculated (S2). Tm' is calculated through tm'=αtm based on the calculated tm. In such cases, theαis set so as to be smaller than the one when the work becomes closer to the robot and set so as to be larger than the one when it becomes farther from the robot. Next, a position P' of the work at a time of tr +tm' is calculated, and a time (tm') the robot needs to move from the position R to the position P' is calculated (S4). Whether the robot can actually reach the work or not is confirmed by comparing the time tm' with the time (tm") (S5). When the tm' is >= the (tm'), the robot can not catch up with the work. Therefore, calculation is performed again (S7).
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