Trajectory plan generation device, trajectory plan generation method, and trajectory plan generation program
A trajectory plan generation device executes a first search process for searching for a plurality of position candidates which are movement destinations of the tip portion within a predetermined distance from first trajectory information indicating positions and postures of the tip portion between t...
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| creator | Nakasu, Nobuaki Yamauchi, Yuta |
| description | A trajectory plan generation device executes a first search process for searching for a plurality of position candidates which are movement destinations of the tip portion within a predetermined distance from first trajectory information indicating positions and postures of the tip portion between the start point and the end point, a second search process for searching for a plurality of posture candidates of the tip portion that change within an allowable range by spherical interpolation based on postures of the tip portion at the start point and the end point, a determination process for determining second trajectory information indicating positions and postures of movement destinations of the tip portion from the first trajectory information based on the plurality of position candidates searched for by the first search process and the plurality of posture candidates searched for by the second search process, and an output process. |
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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROLLING HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRANSPORTING |
| title | Trajectory plan generation device, trajectory plan generation method, and trajectory plan generation program |
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