KINEMATICS COMPUTATION LIBRARY IMPLEMENTATION SELECTING METHOD, MANIPULATOR CONTROLLING METHOD, KINEMATICS COMPUTATION PROGRAM SELECTING SYSTEM, AND MANIPULATOR CONTROL SYSTEM

摘要

A method of selecting a kinematics computation library implementation, includes a first process of compiling, by a first processor, each of a plurality of types of implementations of kinematics computation libraries using different rigid transformation representation formats by a plurality of types of compilers, a second process of performing, by the first processor, each of predetermined kinematics computations by using the plurality of types of implementations of the kinematics computation libraries, which are compiled in the first process, and a third process of comparing, by the first processor, results of the kinematics computations performed in the second process to select an optimum implementation for the predetermined kinematics computation from the plurality of types of implementations of the kinematics computation libraries.