| 摘要 |
PURPOSE:To generate a function which secures continuity for an input that varies discontinuously and dynamically at random by using a multidimensional normal distribution function as the generating function and performing composition by the linear combination of the generating function. CONSTITUTION:Detected distances of sensors 21-2n are converted into relative position coordinates by a coordinate conversion part 30. A control deviation generating part 31 generates the position error between the target position and current position of a robot and the rotational error. An image conversion part 32 converts the input position coordinates and position deviation into a three-dimensional image of the normal distribution by using a basic function and an image arithmetic part 33 adds respective three-dimensional images after image conversion to generate a potential surface in a virtual space. A conversion part 34 computes an attitude controlled variable from the potential value between calculated virtual spaces. A virtual suctional force generation part 35 generates an induction acceleration force and a virtual turning force generation part 36 generates a turning force to a target rotational angle.
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