INVERSE KINEMATICS OPERATION DEVICE AND INVERSE KINEMATICS OPERATION METHOD

To enable an appropriate solution concerning an attitude in a joint angle interpolation trajectory to be selected from among a plurality of solutions of an inverse kinematics operation.SOLUTION: An inverse kinematics operation device comprises: an input unit 1 which receives input information including a start point represented by a joint space representation in a robot arm having a plurality of joints and an end point represented by a Cartesian space representation; a solution set generating unit 2 which finds a plurality of solutions of an inverse kinematics operation concerning an end point included in the input information received by the input unit 1; and a solution selecting unit 3 which selects, from among solutions found by the solution set generating unit 2, a solution that satisfies conditions on the basis of an attitude of each route point in a joint angle interpolation trajectory between the start point and the solution included in the input information received by the input unit 1.SELECTED DRAWING: Figure 1 【課題】逆運動学演算の複数の解の中から、関節角補間軌道における姿勢に関して適切な解を選択可能とする。【解決手段】複数の関節を有するロボットアームにおける関節空間表現で表された始点及びデカルト空間表現で表された終点を含む入力情報を受付ける入力器１と、入力器１により受付けられた入力情報に含まれる終点についての逆運動学演算の解を複数求める解集合生成器２と、解集合生成器２により求められた解の中から、入力器１により受付けられた入力情報に含まれる始点と解との間の関節角補間軌道における各経路点の姿勢に基づいて、条件を満たす解を選択する解選択器３とを備えた。【選択図】図１