MANIPULATOR, MOTION PLANNING METHOD FOR MANIPULATOR, AND CONTROL SYSTEM FOR MANIPULATOR

摘要

Provided is a method for controlling a manipulator by determining a suitable target posture of an arm part during a movement in the manipulator and carrying out motion planning to enable the arm part to be naturally and quickly moved on the basis of the determination. The present invention searches for an arm trajectory from a predetermined posture to a target posture by setting a straight line that connects a predetermined rotating axis of the manipulator and a first predetermined reference point as a first reference line, setting a first specific point posture determined in accordance with the first reference line, and setting the posture having the shortest distance to the first specific point posture as the target posture.