WORKING PART CONTROL DEVICE, WORKING ROBOT, WORKING PART CONTROL METHOD, AND WORKING PART CONTROL PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a working part control device that controls a working part while preventing object entities, which are fitted together in the middle of a moving route, from coming into contact with each other, a working robot, a working part control method, and a working part control program.;SOLUTION: The present invention includes a recognition unit 2 that recognizes the three-dimensional position and posture of a first object entity 20, a designation unit 3 that designates an approach beginning disposition, which represents the three-dimensional position and posture of a second object entity at the beginning of approach, and an approach route, which represents a moving route of the second object entity, on the basis of the recognized three-dimensional position and posture of the first object entity 20, and a control unit 4 that fits the second object entity into the first object entity 20 by controlling a working part 5.;COPYRIGHT: (C)2014,JPO&INPIT