Inverse kinematics arithmetic unit and inverse kinematics arithmetic method

摘要

PROBLEM TO BE SOLVED: To select an appropriate solution regarding a position in a joint angle interpolation trajectory from a plurality of solutions of inverse kinematics calculation. SOLUTION: An input device 1 that receives input information including a start point represented by a joint space representation and an end point represented by a kinematic space representation in a robot arm having a plurality of joints, and input information received by the input device 1 From the solution set generator 2 that finds multiple solutions of inverse kinematics operations for the included end points and the solutions obtained by the solution set generator 2, the start point and solution included in the input information received by the input device 1. It is provided with a solution selector 3 that selects a solution that satisfies the conditions based on the position of each path point in the joint angle interpolation trajectory between and. [Selection diagram] Fig. 1