CONTROL DEVICE OF MULTIPLE POINT MANIPULATOR AND METHOD FOR GENERATING OPERATION TRACK OF HAND FOR MULTIPLE POINT MANIPULATOR

PROBLEM TO BE SOLVED: To provide a method for generating operation track of a hand for an multiple joint manipulator in which when a reverse coordinate transformation can not appropriately performed, an already-calculated target point can be reused without performing calculation to regenerate a singular point avoiding track at a singular point or in a vicinity thereof. SOLUTION: This device includes the multiple joint manipulator 7 with joints 9, 11, 13 being connected through arms 10, 12, provided with a hand 8 at an end; a driving device arranged on the multiple joint manipulator 7 to drive the joints 9, 11, 13; and a control device 4 moving the hand 8 along a linear track by driving the driving device so that the joints 9, 11, 13 can sequentially reach a target value in a joint angle coordinate system derived by reverse coordinate transformation to a joint angle coordinate corresponding to a target point on the linear track. When a singular point for which no appropriate solution can be obtained by reverse coordinate transformation exists on the linear track or in the vicinity, the control device 4 generates a conical avoiding track with its center at the target point where the singular point exits or at the vicinity of the singular point. COPYRIGHT: (C)2010,JPO&INPIT