| 摘要 |
In a remote operation system using a manipulator-head, a trajectory of the manipulator head is automatically produced on the basis of an execution environment of a manipulator by using an automatic manipulator-head trajectory producing system. The automatic manipulator-head trajectory producing system includes a template storage memory, a shape register, an obstacle detecting section, a size decision section, a size register, a template limiting section, a priority order granting section, a first interference inspecting section, a curve interpolation section and a second interference inspecting section. The trajectory templates are registered in the template storage memory, then an interference of the manipulator with an obstacle is inspected by the obstacle detecting section based on each trajectory template. As a result of such an inspection, a priority is made for the templates inspected to have no interference with the obstacle. Then the manipulator-head trajectory is automatically produced by previously estimating the priority of the templates. As a result, the manipulator-head trajectory can automatically be produced in a reduced time with a smaller memory capacity.
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