[Problem]To provide a robot control system that can easily obtain an appropriate moving part control law even when there are many combinations of arm states and moving part states to achieve a target motion.[Solution]A robot control system includes: a robot including an arm and a moving part; and a control device that controls the robot. The control device includes; a motion planning part that outputs a target motion associated with a motion of the arm and an allowable range for the motion of the moving part corresponding to the target motion; an arm control part that outputs an arm control instruction associated with the target motion and an arm state transition; and a movement control part that generates a movement control instruction associated with a motion of the moving part to fall within the allowable range using the arm state transition. The robot has the arm controlled by the arm control instruction and has the moving part controlled by the movement control instruction.
ROBOT CONTROL SYSTEM, ROBOT CONTROL METHOD, AND ROBOT CONTROL DEVICE
2024-11-21
Patent
Electronic Resource
English
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