Cooperative control unit, cooperative control method, and a cooperative control program

摘要

A cooperative control device is provided in which position information on a node (1) of the device and a facing node (2) are acquired by a device node position information acquisition unit (8) and a facing node position information acquisition unit (14). The position information is used to calculate a position-information-based target angle of a first orientation means (3) by a position-information-based orientation angle generator (15). The position-information-based target angle is converted, by applying kinematics, to a kinematics-used target angle of the first orientation means by the converter (16). Subsequently, the position-information-based target angle of the first orientation means (3) is subtracted from the kinematics-used target angle to obtain a target error angle, and the target error angle is then integrated by an integrator (17). The integrated target error angle is added to the position-information-based target angle of the first orientation means (3) by an adder (18) to output a target angle of the first orientation means (3) for cooperative control, the target angle being capable of removing an orientation angle error of a second orientation means (4). This operation ensures that the orientation angle of the first orientation means can reach the target angle of the first orientation means, and the orientation angle error of the second orientation means can be canceled.