Title:
ROUTE SEARCH METHOD, ROUTE EVALUATION METHOD, ROUTE SEARCH SYSTEM, CONTROL DEVICE, ROBOT, AND PROGRAM
Document Type and Number:
Japanese Patent JP2014087875
Kind Code:
A
Abstract:
To more highly precisely evaluate a moving route of a robot.
A route search method is such that a joint angle and joint position of a movable part of a robot at each of nodes included in a first moving route are changed within predetermined ranges in order to produce one or more second moving routes. An evaluation value that gets larger as a change quantity increases is calculated based on the change quantity between nodes of each of the joint position and joint angle of the movable portion at each of the nodes included in each of the second moving routes. The first moving route is updated with one of the second moving routes whose evaluation value is the smallest.
Inventors:
HARADA TOMONORI
Application Number:
JP2012238666A
Publication Date:
May 15, 2014
Filing Date:
October 30, 2012
Export Citation:
Assignee:
SEIKO EPSON CORP
International Classes:
B25J9/10
Domestic Patent References:
| JP2008269021A | 2008-11-06 | |||
| JPH01301081A | 1989-12-05 | |||
| JP2010142910A | 2010-07-01 |
Attorney, Agent or Firm:
Masahiko Ueyanagi
Kazuhiko Miyasaka
Kazuaki Watanabe
Kazuhiko Miyasaka
Kazuaki Watanabe