Inverse kinematics calculation method and inverse kinematics computing device

摘要

PROBLEM TO BE SOLVED: To accurately derive a solution of inverse kinematics computation without being influenced by a robot mechanism.;SOLUTION: When computing joint variables q1-qn from the position and attitude of a leading end T of a robot R having a plurality of joints J₁-J_n, a control variable λ is determined first. The variation Δq_k of a joint variable vector q_k is then computed based on the determined control variable λ, and a joint variable vector q_k+1 corresponding to the position and attitude of the end T of the robot R is computed based on the computed variation Δq_k. The control variable λ is determined based on the varying situation of a predetermined evaluation index value F(q_k) for evaluating the joint variable vector q_k.;COPYRIGHT: (C)2009,JPO&INPIT