JP2011056624A - Route plan generating device, route plan generating method, robot control device and robot system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route plan generating device and a route plan generating method, which smoothly transfer a motion generated by a communication, a robot control system and a robot system. <P>SOLUTION: A route plan generating part 22 includes a motion data storing part 31 for storing plurality of motion data, a distance calculating part 32 for obtaining the distance between a first prescribed position of one executed motion of the respective motion data and a second prescribed position of the other motion when the motion needs to be transferred, a transfer part selecting part 33 for selecting the motion data of the other motion which gives the distance of a first threshold value or smaller and a route plan part 34 for connecting the data up to the first position to the data after the second position to generate new route plan data. The route plan part 34 generates data of a route between the first and second positions by a probable road map method when the distance between the first and second positions is the first threshold value or smaller and a second threshold value smaller than the first threshold value or larger. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a route plan generation device and a route plan generation method for generating a route plan for a robot. The present invention relates to a robot control device and a robot system provided with this route plan generation device.

  For example, an industrial robot or a robot car or the like, a mechanical device that performs a certain level of autonomous work on behalf of a human, or a living body such as a human or an animal such as a humanoid robot or a pet robot. In recent years, a robot (robot system), which is a mechanical device that imitates the above, has been actively researched and developed, and is being introduced into various industrial fields and human society. Such robot motion is realized by giving multiple consecutive posture paths (path planning) from the initial posture of the robot (posture at the start of motion) to the final posture (posture at the end of motion, target posture). Is done. Such a route plan is roughly divided into two methods. One is that a plurality of route plans corresponding to a plurality of operations are stored in advance, and when a control command is given, a route plan of the operation corresponding to the control command is selected from the plurality of route plans. . The other is, for example, a probabilistic roadmap method (randomized roadmap method, for example, see Non-Patent Document 1 and Non-Patent Document 2). A route plan for the selected operation is automatically created.

S.M.Lavalle and J.J.Kuffner, Jr., "Randomized Kinodynamic planning", Proc of IEEE Int. Conf.on Robotics and Automation, 1999 James J. Kuffner, Jr., Steven M. LaValle, “RRT-Connect: An Efficient Approach to Single-Query Path Planning”, In Proc. 2000 IEEE Int’l Conf. On Robotics and Automation

  By the way, in a robot that communicates with human beings, not only voice conversation but also body gestures are important as interactive actions. Since it is difficult to assume all communication with humans, it is difficult to prepare all path plans for realizing such body gestures in advance as in the former case.

  On the other hand, in the latter probabilistic roadmap method described above, it is not necessary to prepare a route plan in advance, but the route plan created by the probabilistic roadmap method is optimal from the initial posture to the final posture. It is difficult to realize an action suitable for human communication (action suitable for interaction) such as a human-like reverberation action or an action satisfying a speed limit. is there.

  In particular, in communication with humans, during execution of a certain operation, it may be necessary to interrupt (interrupt) the transition to another operation by communication. More difficult.

  The present invention has been made in view of the above-described circumstances, and its object is to perform the above-described operation when there is a need (interrupt) to transit to another operation by communication during execution of a certain operation. To provide a route plan generation device and a route plan generation method capable of generating a route plan that can make a smooth transition from one operation to another operation. An object of the present invention is to provide a robot control device and a robot system provided with this route plan generation device.

  As a result of various studies, the present inventor has found that the above object is achieved by the present invention described below. That is, the path plan generation device according to one aspect of the present invention is data for operating a robot, data of an initial posture that gives an initial posture of the motion, data of a final posture that gives a final posture of the motion, and A motion data storage unit for storing a plurality of motion data including data of one or a plurality of intermediate postures for giving one or a plurality of intermediate postures from the initial posture to the final posture; When it is necessary to make a transition to another operation during the execution of one operation in the operation, the plurality of motion data stored in the motion data storage unit is changed to the one operation being executed. The first posture after the time when the transition needs to occur in the corresponding motion data, and the first posture in the other motion data A distance calculation unit for obtaining a distance from the posture, and when the distance obtained by the distance calculation unit is equal to or less than a predetermined first threshold, the other motion data that gives a distance equal to or less than the predetermined first threshold is changed. A transition destination selection unit to select as possible motion data, data up to the first posture in motion data corresponding to the one operation being executed, and the other motion data selected by the transition destination selection unit A route planning unit that generates data of a new route plan by linking the data after the second posture, and the route planning unit includes the other one selected by the first posture and the transition destination selection unit When the distance from the second posture in the motion data is equal to or smaller than the predetermined first threshold and is equal to or larger than a predetermined second threshold smaller than the predetermined first threshold, And generating by the stochastic road map method data path to the second position in the other motion data selected by the transition destination selection unit from.

  Then, the path plan generation method according to another aspect of the present invention provides the robot in the case where it is necessary to transition to another operation during execution of one operation among a plurality of operations of the robot given in advance. Is an initial posture data that gives the initial posture of the motion, final posture data that gives the final posture of the motion, and one or more intermediate points between the initial posture and the final posture For each of a plurality of motion data corresponding to each of the plurality of motions including data of one or a plurality of intermediate postures for giving a posture, the transition needs to be made in the motion data corresponding to the one motion being executed. A distance calculating step for obtaining a distance between the first posture after the time point and the second posture in other motion data; and the distance calculating step. A transition destination selection step of selecting, as the transitionable motion data, the other motion data that gives a distance equal to or less than the predetermined first threshold when the distance obtained in step (b) is equal to or less than a predetermined first threshold; A new route by connecting the data up to the first posture in the motion data corresponding to one of the movements and the data after the second posture in the other motion data selected in the transition destination selection step A route plan generation step for generating plan data, wherein the route plan generation step is configured such that a distance between the first posture and a second posture in the other motion data selected in the transition destination selection step is the predetermined amount. When the first posture is less than the first threshold value and greater than or equal to a predetermined second threshold value smaller than the predetermined first threshold value, And generating a data path to the second position in the other motion data selected by Utsurisaki selecting step by stochastic roadmap method.

  In the route plan generation device and the route plan generation method configured as described above, a plurality of motion data are given in advance in association with a plurality of operations. For this reason, for example, motion capture can generate motion data for operations suitable for communication with humans (operations suitable for interaction), such as human-like reverberation operations and operations that satisfy speed limitations. The motion data can make the robot perform an action suitable for communication with a human.

  In the route plan generation device and the route plan generation method configured as described above, when it is necessary to transition to another operation during execution of one operation, each of a plurality of motion data given in advance The distance between the first posture after the point in time when the transition in the motion data corresponding to the one operation being executed has occurred and the second posture in the other motion data is obtained, and the obtained distance is predetermined. Other motion data that gives a distance less than or equal to the predetermined first threshold is selected as the transitionable motion data, and in the motion data corresponding to the one operation being performed The data up to the first posture and the data after the second posture in the selected other motion data are linked, and a new route plan is created. Data is generated. Here, in connecting the data up to the first posture and the data after the second posture, the distance between the first posture and the second posture is equal to or less than the predetermined first threshold, and the predetermined first When the predetermined second threshold value is smaller than the threshold value, the route data from the first posture to the second posture is generated by the probabilistic road map method. For this reason, the route plan generation device and the route plan generation method configured as described above are configured in advance even when it is necessary to make a transition (interruption) to another operation through communication during execution of a certain operation. A new route plan can be generated based on a plurality of given motion data, and a new route plan that makes a smooth transition from the one operation to the other operation is automatically generated. Can be generated.

  In another mode, in the above-mentioned route plan generating device, the 2nd posture is the posture of the first half part in the other operation.

  According to this configuration, since the second posture is limited to the posture of the first half part in another operation, the amount of information processing is reduced, and it is possible to select motion data that can be transitioned in a shorter time. As a result, when communicating with a human, a response with little delay is possible with respect to the human action, and the operation is more suitable for communication with a human.

  The path plan generation apparatus according to another aspect of the present invention is data for operating a robot, and includes initial posture data that gives the initial posture of the motion, and final posture that gives the final posture of the motion. A motion data storage unit that stores a plurality of motion data including data and data of one or a plurality of intermediate postures that give one or a plurality of intermediate postures from the initial posture to the final posture; When a sample operation is specified as a sample operation from the plurality of operations, an operation similar to the specified one operation is set as the similar operation to the plurality of motion data stored in the motion data storage unit. Based on the similar motion search unit that searches from among the plurality of motions based on the similar motion searched by the similar motion search unit. A target position setting unit that sets a target position within a convex hull composed of the trajectory of a predetermined part of the robot, and the similar operation search for the target position set by the target position setting unit A similar motion synthesizing unit that synthesizes by interpolating the similar motion searched for by a weight coefficient using a Welsch weight function.

  Then, the route plan generation method according to another aspect of the present invention is configured such that when one motion is designated as a sample motion among a plurality of motions of a robot given in advance, the designated sample motion is performed. It is data for operating the robot as a similar motion as a similar motion, the initial posture data giving the initial posture of the motion, the final posture data giving the final posture of the motion, and the final posture from the initial posture A similar motion search step for searching from the plurality of motions based on a plurality of motion data including data of one or a plurality of intermediate postures that give one or a plurality of intermediate postures during reaching the posture; and the similar motion search step A target position within a convex hull composed of a locus of a predetermined part of the robot when the robot is operated with a similar motion searched in The target position setting step to be set and the target position set in the target position setting step are synthesized by interpolating the similar motion searched in the similar motion search step with a weight coefficient using a Welsch weight function. A similar behavior synthesis step.

  In the route plan generation device and the route plan generation method configured as described above, a plurality of motion data are given in advance in association with a plurality of operations. Therefore, as described above, motion data suitable for communication with the human can be generated in advance, and the robot can perform motion suitable for communication with the human by using the motion data. .

  In the route plan generation device and the route plan generation method configured as described above, similar operations are synthesized by interpolation with a weighting factor using a Welsch weight function, so, for example, Kovar's recursive similar operation search There is no need to optimize the weighting factor as in the method. For this reason, the route plan generation apparatus having such a configuration reduces the amount of information processing, and enables synthesizing similar actions in a shorter time. As a result, when communicating with a human, a response with little delay is possible with respect to the human's action, and the operation is more suitable for communication with the human.

  In another mode, in the above-mentioned route plan generation device, when the deviation between the target position and the synthesized position by the synthesis action synthesized by the similar action synthesis unit is a predetermined third threshold value or more, The image processing apparatus further includes a synthesis operation correction unit that corrects the synthesis operation using a probabilistic roadmap method.

  According to this configuration, since the synthesis operation is corrected by the probabilistic road map method, it is possible to generate a more accurate synthesis operation.

  A robot control device according to another aspect of the present invention generates one of the above-described route plan generation devices and a control signal that causes the robot to perform an operation according to the motion data output from the route plan generation device. And a control signal output unit for outputting the control signal.

  According to this configuration, when there is a need (interruption) for transition from one operation to another during communication, it is possible to smoothly move from the one operation to the other. Provided is a robot control apparatus capable of outputting a path planning control signal capable of transition to a robot.

  A robot system according to another aspect of the present invention includes a robot and a robot control unit that controls the robot, and the robot control unit is the robot control device described above.

  According to this configuration, when there is a need (interruption) for transition from one operation to another during communication, it is possible to smoothly move from the one operation to the other. A robot system capable of transition is provided.

  The route plan generation device and the route plan generation method according to the present invention are configured to change from one operation to another when there is a need to transition to another operation by communication during execution of the one operation. A route plan that can make a smooth transition to operation can be generated. In the robot control device according to the present invention, when it is necessary to transit to another operation by communication during execution of the one operation, the robot control device smoothly moves from the one operation to the other operation. It is possible to output a control signal of a route plan that can make a transition to the robot. In the robot system according to the present invention, when it is necessary to transition to another operation through communication during execution of one operation, the robot operation from the one operation to the other operation is smoother. It can transition to.

It is a block diagram which shows the structure of the robot system in embodiment. It is a figure which shows the robot part in the robot system of 1st Embodiment. It is a block diagram which shows the structure of the robot control part in the robot system of 1st Embodiment. It is a figure which shows the motion graph in the robot control part of 1st Embodiment. It is a figure which shows the operation example of the robot part by the motion data connected by the production | generation of a motion graph. It is a flowchart which shows operation | movement of the robot control part in the robot system of 1st Embodiment. It is a figure for demonstrating the search process of the motion data which can be changed in the robot system of 1st Embodiment. It is a flowchart which shows the process of new route plan production | generation in the robot system of 1st Embodiment. It is a figure which shows the operation example of the robot part in the robot system of 1st Embodiment. It is a block diagram which shows the structure of the robot control part in the robot system of 2nd Embodiment. It is a flowchart which shows operation | movement of the robot control part in the robot system of 2nd Embodiment. It is a figure for demonstrating an example of target operation | movement and similar operation | movement. It is a figure which shows the position by the synthetic | combination operation | movement corresponding to a target position before deviation correction. It is a figure for demonstrating an example of the synthetic | combination operation | movement after correction | amendment by the stochastic road map method.

  Hereinafter, an embodiment according to the present invention will be described with reference to the drawings. In addition, the structure which attached | subjected the same code | symbol in each figure shows that it is the same structure, The description is abbreviate | omitted suitably. Further, in this specification, when referring generically, it is indicated by a reference symbol without a suffix, and when referring to an individual configuration, it is indicated by a reference symbol with a suffix.

(First embodiment)
FIG. 1 is a block diagram illustrating a configuration of a robot system in the embodiment. FIG. 2 is a diagram illustrating a robot unit in the robot system according to the first embodiment. FIG. 2A shows the appearance of the robot unit 1, and FIG. 2B shows the appearance of a simulation model that models the robot unit 1. FIG. 3 is a block diagram illustrating a configuration of the robot control unit in the robot system of the first embodiment. FIG. 4 is a diagram illustrating a motion graph in the robot control unit of the first embodiment. FIG. 5 is a diagram illustrating an operation example of the robot unit 1 based on motion data linked by generating a motion graph.

  The robot system SA is a mechanical device that performs a certain amount of autonomous work on behalf of humans, such as industrial robots or robot cars, or a humanoid robot such as a humanoid robot or pet robot. 1 is a mechanical device that imitates a living body such as an animal or the like, and is a device that communicates with a human. For example, as shown in FIG. 1, a robot unit 1 of a mechanism and a robot control unit 2A that controls the robot unit 1 It is configured with.

  The robot unit 1 is a robot main body that is a mechanical device that performs work that is autonomously continued to some extent, or a mechanical device that imitates a living body such as a human being or an animal. For example, a plurality of link members (support members, linear members) Member), one or more connecting members that connect one link member of the plurality of link members to another link member with a predetermined degree of freedom, and the one link member and the other link member relative to each other. One or a plurality of drive units that are moved in a moving manner, and a drive control unit that controls the drive unit based on a control signal input from the robot control unit 2A. The robot unit 1 includes a pair of link members, a connecting member that connects the pair of link members, and a drive unit that moves the pair of link members relative to each other. Or a plurality of link members, a plurality of connecting members that connect one of the plurality of link members to another link member, the one link member, and the other link. It may be an articulated robot including a plurality of driving units that relatively move the members. An example of such a robot unit 1 is Actroid SIT, which is a humanoid robot of Kokoro Corporation shown in FIG.

  The robot control unit 2A is a device that controls the robot unit 1 so that the robot unit 1 performs a predetermined operation. For example, as shown in FIG. 3, a transition command to another operation is issued during execution of one operation. An input unit 21 to receive, a route plan generation unit 22 that generates a route plan of the robot unit 1 by selecting an operation that can be transitioned from the operation being executed when the input command is received by the input unit 21, and a route And a control signal output unit 23 that generates and outputs a control signal for causing the robot unit 1 to perform an operation according to the route plan output from the plan generation unit 22.

  The input unit 21 is a device for communicating with a human, for example, a voice input unit for inputting voice, a voice analysis unit for analyzing the meaning of voice input to the voice input unit, It is determined whether or not the robot unit 1 requires another operation whose meaning of the voice analyzed by the voice analysis unit is different from the operation being executed. As a result of the determination, the other operation is requested. And an event output unit that outputs an event signal in some cases. Further, for example, the input unit 21 is a camera unit that captures a light image captured by an optical system in order to input a human motion, a motion analysis unit that analyzes the meaning of the human motion captured by the camera unit, It is determined whether or not the robot unit 1 requires another motion whose meaning of the human motion analyzed by the motion analysis unit is different from the motion being executed. As a result of the determination, the other motion is requested. And an event output unit that outputs an event signal when it is to be used. What requires the robot unit 1 to perform another operation different from the operation being executed is stored and registered in advance in the robot control unit 2A. Further, for example, the input unit 21 may be an input device that includes a keyboard and predetermined switches and directly inputs the other operations.

  The route plan generation unit 22 is a device that generates a route plan for the robot unit 1. For example, as illustrated in FIG. 3, the motion plan storage unit 31, the distance calculation unit 32, the transition destination selection unit 33, and the route And a planning unit 34.

  The motion data storage unit 31 stores a plurality of motion data corresponding to a plurality of operations performed by the robot unit 1. The plurality of operations include operations for communication with humans, such as greeting operations, positive operations, negative operations, and manual feed operations. The motion data is data for operating the robot unit 1, and is data of an initial posture that gives the initial posture of the motion, data of a final posture that gives the final posture of the motion, and from the initial posture to the final posture. 1 or a plurality of intermediate posture data giving one or a plurality of intermediate postures. Each data of the motion data may be data indicating each joint position of the robot unit 1 in the three-dimensional xyz coordinate system, for example, and the robot unit 1 in the multi-dimensional coordinate system having each joint angle of the robot unit 1 as each coordinate axis. It may be data indicating each joint angle. Each piece of such motion data is associated with an identifier (motion identifier, motion identifier) for identifying and identifying a motion (motion) and stored in the motion data storage unit 31 in the order of the route plan.

  Since the length (distance between each joint) of each link member of the robot unit 1 is uniquely determined if the robot unit 1 is given, the data in such a three-dimensional xyz coordinate system and the multi-dimensional coordinate system Data can be converted to each other, and the position of any part (part) in the robot unit 1 such as the coordinates of the hand position in a humanoid robot or the tip position of the arm in a robot arm can be calculated. It is.

  The plurality of motion data is stored in the motion data storage unit 31 in a format capable of forming a motion graph. In the motion graph, for example, as shown in FIG. 4, each posture (initial posture, intermediate posture and final posture) of the motion data is assigned to each node (initial node, intermediate node and final node). A route from the intermediate posture to the final posture is a directed graph represented by connecting these nodes with arcs according to the route. Each node is indicated by a circle in FIG. 4, and each arc is indicated by a line segment with an arrow. The motion graph shown in FIG. 4 is composed of 17 pieces of motion data corresponding to 17 types of motions. In FIG. 4, in order to identify and identify each of these 17 pieces of motion data, The number corresponding to each of the 17 pieces of motion data is described as the motion identifier. Therefore, for example, in the motion data storage unit 31, as arc information representing an arc, an identifier (node identifier) for identifying and specifying each node and a node identifier of a connection destination node in the node of the node identifier correspond to each other Attached and memorized.

  In the motion graph, as shown in FIG. 4, when a predetermined distance in each posture between each node is calculated, and each calculated distance between each node is equal to or less than a predetermined second threshold th2. As a connectable node, an arc is generated between a pair of nodes whose distance is equal to or less than a predetermined second threshold th2. For example, as shown in FIG. 4 by enclosing with a broken line, the eleventh motion data is a predetermined posture in the intermediate posture (node N11-2) and a predetermined posture in the intermediate posture in the second motion data (node N11-2). Node N2-2) and can be connected to a predetermined posture (node N10-3) in the intermediate posture in the tenth motion data.

The predetermined second threshold th2 is a value smaller than a predetermined first threshold th1 described later, and is obtained by linear interpolation between a pair of nodes shown in the following Expression 1 (Expression 1-1, Expression 1-2). For example, an unnatural motion such as an unnatural motion or a self-interference motion that causes the posture to fly, and an inappropriate motion as a motion for communication with a human being is not generated. It is a value that can generate intermediate posture data in the case of transition to a different posture.
C _k = α (k) A _{i + k} + (1−α (k)) B _{j−m + 1 + k} (1-1)
α (k) = 2 ((k + 1) / m) ³ -3 ((k + 1) / m) ² +1 (1-2)
Here, A _i is the i-th posture in the motion A, B _j is the j-th posture in the motion B, and C _k is the k-th interpolation motion C (| C | = m). .

  As an example, FIG. 5 shows an operation state of the robot unit 1 based on motion data linked by generating such a motion graph. FIG. 5 shows the intermediate posture of node N2-2 in the operation corresponding to the second motion data from the intermediate posture of node N11-2 in the operation corresponding to the eleventh motion data (left side in FIG. 5). To the intermediate posture of the node N10-3 in the operation corresponding to the tenth motion data, the state corresponding to the second motion data after the intermediate posture is performed (upper right side in FIG. 5). Transition to the state corresponding to the tenth motion data after the intermediate posture (right middle in FIG. 5), and the eleventh motion data after the intermediate posture of the node N11-2 A state of performing the corresponding operation (lower right side in FIG. 5) is shown.

  It is preferable that each distance in each posture between each node in each motion graph is also stored in the motion data storage unit 31.

  Note that the predetermined distance between each posture (first posture and second posture) between a pair of nodes is, for example, in the case of a single joint robot, the joint position of the first posture and the second posture. And the distance between each joint position of the first posture and the corresponding joint position of the second posture corresponding to the distance between the joint positions and, in the case of an articulated robot, the distance between the joint positions. Is the sum of In addition, instead of the predetermined distance, the similarity between the first posture and the second posture may be calculated. When the robot unit 1 is the actroid SIT, the command value of the pneumatic actuator is used. The similarity may be calculated. The similarity is, for example, the reciprocal of the predetermined distance.

  In the motion data storage unit 31 of the first embodiment, the node identifier, the motion identifier of the motion to which the posture corresponding to the node of the node identifier belongs, and the posture (initial posture, intermediate posture, Motion data (representing the final posture) (coordinate data and the route order in the route plan), the node identifier of the connection destination node in the node of the node identifier, the posture corresponding to the node of the node identifier, and the node identifier The distances between postures corresponding to the connection destination nodes in the nodes (the distances between the postures between a pair of nodes) are stored in association with each other.

  When it is necessary for the distance calculation unit 32 to transition to another operation while the robot unit 1 is executing one operation among a plurality of operations, the distance calculation unit 32 stores the plurality of motion data stored in the motion data storage unit 31. For each of them, the distance between the first posture after the time when the transition needs to occur in the motion data corresponding to the one operation being executed and the second posture in the other motion data is obtained. In the present embodiment, whether or not it is necessary to make a transition to another operation while causing the robot unit 1 to execute one operation among a plurality of operations depends on whether or not the event signal is received from the input unit 21. If the event signal is received from the input unit 21, it is determined that it is necessary to shift to another operation while causing the robot unit 1 to execute one operation among a plurality of operations. The other motion data is motion data excluding motion data corresponding to one operation being executed among the plurality of motion data stored in the motion data storage unit 31.

  Obtaining the distance between the first posture and the second posture in the distance calculation unit 32 may actually calculate the distance between the first posture and the second posture. In the embodiment, as described above, each distance between the postures is stored in advance in the motion data storage unit 31, and therefore, the distance corresponding to the distance is read from the motion data storage unit 31.

  The transition destination selection unit 33 can transition the other motion data that gives a distance equal to or less than the predetermined first threshold th1 when the distance obtained by the distance calculation unit 32 is equal to or less than the predetermined first threshold th1. Select as motion data.

  The predetermined first threshold th1 is larger than the predetermined second threshold th2, and to what extent the pair of postures (first and second postures) are changed from the first posture to the second posture. A value for setting whether or not to allow transition, and as the value increases, a range for allowing transition from the first posture to the second posture becomes wider. In other words, a value for setting the width of motion data at the transition destination As the value increases, the motion data at the transition destination becomes wider and larger. The predetermined first threshold th1 is appropriately set according to the specification of the robot system 1 and the like.

  The path planning unit 34 obtains the data up to the first posture in the motion data corresponding to one operation being executed, and the data after the second posture in the other motion data selected by the transition destination selection unit 33. By connecting, new route planning data is generated. It should be noted that the route planning unit 34 of the present embodiment is configured such that the distance between the first posture and the second posture in the other motion data selected by the transition destination selecting unit 33 is the predetermined first threshold th1. Probabilistic roadmap for data of a route from the first posture to the second posture in the other motion data selected by the transition destination selection unit 33 when it is equal to or less than the predetermined second threshold th2 Generate by the method.

  The control signal output unit 23 converts the route plan data input from the route plan generation unit 22 into the configuration of the robot unit 1 so that the robot unit 1 performs an operation according to the route plan input from the route plan generation unit 22. Accordingly, it is a device that converts it into data that can be processed by the robot unit 1 and outputs it as a control signal. For example, when the drive unit of the robot unit 1 is a pneumatic actuator, the control signal output unit 23 converts the signal into a signal corresponding to the pneumatic actuator. For example, when the drive unit of the robot unit 1 is an electromagnetic motor, the control signal output unit 23 converts the signal into a signal corresponding to the electromagnetic motor.

  Such a route plan generation unit 22 can be configured by a computer such as a microcomputer, a notebook personal computer, and a desktop personal computer, for example, and is functionally distanced from the computer by executing a predetermined route plan generation program. A calculation unit 32, a transition destination selection unit 33, and a route plan unit 34 are configured.

  Next, the operation of the robot system 2A according to the first embodiment will be described. FIG. 6 is a flowchart showing the operation of the robot control unit in the robot system of the first embodiment. FIG. 7 is a diagram for explaining a process for searching for transitionable motion data in the robot system according to the first embodiment. FIG. 8 is a flowchart illustrating a process for generating a new route plan in the robot system according to the first embodiment. FIG. 9 is a diagram illustrating an operation example of the robot unit in the robot system of the first embodiment.

  The robot system 2A is activated, for example, by turning on a power switch (not shown) or receiving an activation command, and the robot unit 1 starts an operation according to the control of the robot control unit 2A. When the robot system SA meets a human, the robot system SA communicates with the human as necessary, and executes a predetermined operation corresponding to the type of communication based on the motion data stored in the motion data storage unit 31. When it is necessary to transition to another operation during execution of the predetermined operation due to communication with the human, an event is sent from the input unit 21 of the robot control unit 2A to the route plan generation unit 22 during execution of this operation. A signal is output. When this event signal is input, the route plan generation unit 22 of the robot control unit 2A operates as follows.

  In FIG. 6, first, in step S <b> 11, for each of a plurality of motion data stored in the motion data storage unit 31 by the distance calculation unit 32, the transition in the motion data corresponding to the predetermined operation being executed. The distance between the first posture after the point in time when the need arises and the second posture in other motion data is obtained.

  More specifically, as shown in FIG. 7, one motion data, for example, motion data of operation b is selected from a plurality of motion data stored in the motion data storage unit 31, and an operation a being executed Is selected from the plurality of postures in the motion data of the operation b, for example, the posture of the node Na-p after the point in time when the transition needs to occur in the motion data corresponding to (the transition required time t1). One posture, for example, the node Nb-1 is selected as the second posture, and the distance between the first posture (node Na-p) and the second posture (node Nb-1) is obtained. And this distance is calculated | required about each attitude | position (node Nb-1, node Nb-2, ...) in the motion data of operation | movement b, respectively, Furthermore, this distance is stored in the motion data storage part 31. Each is required for data.

  The first posture at the transition required time t1 may be a posture immediately after the transition required time t1, and one or more postures are present between the transition required time t1 and the posture selected as the first posture. There may be any posture as long as it is a posture after the time t1 when the transition is required. In the example illustrated in FIG. 7, the second posture after the required transition occurrence time t1 is selected as the first posture. For example, the first posture at the transition required time point t1 is appropriately determined in consideration of information processing time necessary for generating a new route plan.

  The second posture for obtaining the distance from the first posture may be all the postures of the motion data of motion b (other motion data), but a predetermined range of motion b (other motion b) The posture (the posture of the connectable range), for example, as shown in FIG. 7, may be limited to the posture of the first half part in the operation b (other operation). By limiting the range of the second posture in this way, the amount of information processing is reduced, and it is possible to select motion data that can be transitioned in a shorter time. As a result, when communicating with a human, a response with little delay is possible with respect to the human action, and the operation is more suitable for communication with a human.

  Subsequently, in step S12, the transition destination selection unit 33 determines whether or not the distance obtained by the distance calculation unit 32 is equal to or less than a predetermined first threshold th1, and the distance is determined to be a predetermined first threshold th1. In the case of the following, the other motion data giving a distance equal to or less than the predetermined first threshold th1 is selected as motion data that can be transited.

  Subsequently, in step S13, the route plan unit 34 uses the data up to the first posture in the motion data corresponding to the predetermined operation being executed and the other motion data selected by the transition destination selection unit 33. Data of a new route plan is generated by connecting the data after the second posture. For example, in FIG. 7, if the first posture of the node Na-p can be changed to the second posture of the node Nb-q, the motion data of the motion b is included in the data up to the node Na-p in the motion data of the motion a. Data after the node Nb-q in the data is connected, and data representing the route of the new route plan is generated.

  Then, in the generation of this new route plan, as shown in FIG. 8, the route plan unit 34 first determines the distance between the first posture and the second posture in step S21. As a result of this determination, if the distance is less than the second threshold th2, the process of step S22 is executed, and the first posture is determined by linear interpolation in the above-described Expression 1 (Expression 1-1, Expression 1-2). Posture data between the second posture is generated and complemented, and the first posture and the second posture are connected. On the other hand, as a result of the determination, when the distance is equal to or less than the first threshold th1 and equal to or greater than the second threshold th2, the process of step S23 is executed, and the first attitude and the second attitude are determined by the probabilistic road map method. The posture data between and are generated and complemented, and the first posture and the second posture are connected.

  The probabilistic roadmap method is a known method as disclosed in Non-Patent Document 1, Non-Patent Document 2, and the like described above. In the probabilistic roadmap method, the process is roughly as follows. First, information on a work space in which the robot unit 1 can work (operable) and information on a failure space incapable of working (operation impossible) are given in advance, and the first posture is set as a start position (initial position). The second posture is set as a goal position (target position). A plurality of intermediate points are randomly set between the start position and the goal position, and an optimum intermediate point is determined according to the value of a predetermined evaluation function, for example, the degree of manipulability indicating the workability level, from the plurality of intermediate points. A point is selected. Subsequently, the trajectory is extended from the start position toward the position of the intermediate point, and when interference (failure, contact) occurs, the trajectory is stopped at that position. Similarly, the track is extended from the goal position to the position of the intermediate point, and when the interference occurs, the track is stopped at that position. Each position at which the track stops is set as a new start position and goal position, and the above process is repeated until the track is connected from the first start position to the first goal position.

  In the case where the robot unit 1 is the actoroid SIT shown in FIG. 2A, the determination of the interference in the probabilistic road map method is performed using the Open Dynamics Engine (ODE) shown in FIG. The created physical model was used.

  When a new route plan is generated, the robot control unit 2A controls the robot unit 1 according to the new route plan, and the robot unit 1 performs an operation according to the new route plan.

  FIG. 9 shows an operation example of the robot unit 1 in the robot system 2A of the first embodiment. As can be seen by comparing FIG. 5 and FIG. 9, in the generation of the motion graph, the operation that could not be connected by self-interference causes self-interference as shown in the second column from the right side of FIG. It is connected without any sense of incongruity.

  As described above, in the robot system SA, the robot control unit 2A, and the route plan generation unit 22 in the first embodiment, a plurality of motion data is stored in advance in the motion data storage unit 31 in association with a plurality of operations. It has been. For this reason, the robot system SA, the robot control unit 2A, and the route plan generation unit 22 in the present embodiment are, for example, motion-capable operations suitable for communication with humans such as human-like reverberation operations and operations satisfying speed limitations ( Motion data suitable for interaction) can be generated in advance, and the motion data can cause the robot to perform motion suitable for communication with humans.

  The robot system SA, the robot control unit 2A, and the route plan generation unit 22 in the first embodiment generate a new route plan by operating as described above. For this reason, the robot system SA, the robot control unit 2A, and the route plan generation unit 22 in the present embodiment need to transition (interrupt) to another operation by communication during execution of a certain operation. In addition, a new route plan can be generated based on the plurality of motion data given in advance, and the new route plan can be more smoothly transitioned from the one operation to the other operation. Can be generated automatically.

Next, another embodiment will be described.
(Second Embodiment)
For example, interpolation is performed by using multiple similar motions in multiple motion data as one of the means to realize human-like reverberation motions and motions that meet speed limitations. For example, there is a behavioral synthesis method using recursive similar motion search of Kovar et al. (For example, reference 1; L. Kovar, and M. Gleicher. “Automated extraction and parameterization”). of motions in large data sets. ”, ACM Trans.on Graphics, vol.23, no.3, pp.559-568, 2004.).

  In the technique of Kovar et al., When synthesizing similar motions, weights are set so that, for example, a parameter error between a target motion and a synthesis operation such as a target three-dimensional position in a predetermined part of a predetermined robot is minimized. The coefficient is optimized. However, it is difficult to perform this optimization calculation for every set of motion parameters assumed to be the target motion that appears in the motion graph. In particular, humanoid robots are more difficult because they are articulated and have various operations.

  The route plan generation unit 42 according to the present embodiment, the robot control unit 2B using the route plan generation unit 42, and the robot system SB improve this point, and can create a route plan in a shorter time.

  Similar to the robot system SA of the first embodiment, the robot system SB of the second embodiment includes a robot unit 1 of the mechanism and a robot control unit 2B that controls the robot unit 1. The robot unit 1 is the same as the robot unit 1 of the robot system SA of the first embodiment.

  FIG. 10 is a block diagram illustrating a configuration of a robot control unit in the robot system of the second embodiment. The robot control unit 2B is a device that controls the robot unit 1 so that the robot unit 1 performs a predetermined operation. For example, as shown in FIG. 10, a sample operation selection instruction and a target position (operation parameter) are set. When an input unit 41 that receives an instruction and an instruction to select the sample operation are received by the input unit 21, a similar operation similar to the sample operation is searched from a plurality of operations of the robot unit 1 given in advance. A route plan generation unit 42 that generates a route plan of the robot unit 1 by combining them, and a control signal that causes the robot unit 1 to perform an operation according to the route plan output from the route plan generation unit 42 And a control signal output unit 43. The control signal output unit 43 is the same as the control signal output unit 43 of the robot system SA of the first embodiment.

  The operation of the present embodiment may be an operation composed of a series of a plurality of postures, or may be a single posture. One posture is a case where the initial posture and the final posture coincide with each other in a series of actions composed of a plurality of postures (if there is an intermediate posture, the intermediate posture also coincides with each of these postures). It is one aspect | mode of the operation | movement which consists of several attitude | positions.

  The input unit 41 is a device for inputting data from the outside. For example, the input unit 41 is an input device such as a keyboard, a mouse, or a touch pen.

  The selection of the sample operation is performed, for example, by inputting a motion identifier from the input unit 41 such as a keyboard. In addition, for example, the robot control unit 2B further includes an image display device that displays an image such as a monitor, and is performed by designating an image of an operation displayed on the image display device with an input unit 41 such as a mouse or a touch pen. Is called. Thus, the input unit 41 functions as a sample operation input unit that accepts a sample operation.

  The target position is set within a convex hull (inside a polygon) configured from a locus of a predetermined portion (part) of the robot unit 1 when the robot unit 1 is operated by the similar operation. For example, the target position setting instruction is performed by inputting, for example, a coordinate value of the target position from the input unit 41. In addition, for example, the robot control unit 2B further includes an image display device that displays an image such as a monitor, and a predetermined portion of the robot unit 1 (when the robot unit 1 is operated by the similar operation on the image display device ( This is performed by displaying a convex hull composed of the locus of the (part) and designating the position within the convex hull with the input unit 41 such as a mouse or a touch pen. In this manner, the input unit 41 functions as a target position input unit that receives a target position setting instruction.

  The route plan generation unit 22 is a device that generates a route plan for the robot unit 1. For example, as illustrated in FIG. 10, the motion plan storage unit 51, the similar motion search unit 52, the similar motion synthesis unit 53, And a composition operation correction unit 54.

  The motion data storage unit 51 is similar to the motion data storage unit 31 of the first embodiment, and stores a plurality of motion data corresponding to a plurality of operations performed by the robot unit 1.

  Upon receiving a sample operation via the input unit 41, the similar operation search unit 52 regards an operation similar to the designated sample operation as a similar operation based on a plurality of motion data stored in the motion data storage unit 51. To search from the plurality of operations.

  The similar motion search unit 52 includes, for example, a distance calculation unit between all postures that calculates a predetermined distance between each posture of one motion in the plurality of motions, for each posture in the sample motion, A similarity determination unit that determines that the one operation is similar to the sample operation when each distance calculated by the inter-posture distance calculation unit is equal to or less than a predetermined fourth threshold th4. The distance calculation by the distance calculation unit between all postures and the similarity determination by the similarity determination unit are performed for each of the plurality of motion data stored in the motion data storage unit 51. That is, in this similar motion search, for each combination of postures in each posture of the sample motion and in each posture of the one motion, a predetermined distance between the postures is obtained, and all the predetermined distances between these postures are obtained. When it is equal to or less than the predetermined fourth threshold th4, it is determined that the one operation is a similar operation. The predetermined distance is the same as the predetermined distance described in the first embodiment. The predetermined fourth threshold th4 is a value that defines a similar range, and the degree of similarity decreases as the value of the fourth threshold th4 increases. The predetermined fourth threshold th4 is appropriately set according to the specification of the robot system SB, for example.

  The similar motion synthesis unit 53 synthesizes the target position set via the input unit 41 by interpolating the similar motion searched by the similar motion search unit 52 with a weight coefficient using a Welsch weight function. is there.

The Welsch weighting function w _i is expressed by Equation 2 where p ₁ ,..., P _k are the operation parameters of the similar operation and <p> is the operation parameter of the target synthesis operation.
W _i = (exp (−D (<p>, p _i ) ² / c) / Σexp (−D (<p>, p _j ) ² / c)
... (2)
However, Σ is the sum from j = 1 to k. c is a constant related to the dispersion of the target position (operation parameter), and is appropriately set by experiment.

  When the deviation between the target position and the synthesized position by the synthesized action synthesized by the similar action synthesizing unit 53 is equal to or greater than the predetermined third threshold th3, the synthesized motion correction unit 54 performs the above-described stochastic road map method. The composition operation is corrected.

  Such a route plan generation unit 42 can be configured by a computer such as a microcomputer, a notebook personal computer, and a desktop personal computer, and is functionally similar to the computer by executing a predetermined route plan generation program. A motion search unit 52, a similar motion synthesis unit 53, and a synthesis motion correction unit 54 are configured.

  Next, the operation of the robot system 2B according to the second embodiment will be described. FIG. 11 is a flowchart showing the operation of the robot control unit in the robot system of the second embodiment. FIG. 12 is a diagram for explaining an example of the target action and the similar action. FIG. 12 (A) shows the target action, and FIG. 12 (B) shows the similar action. FIG. 13 is a diagram illustrating a position by the synthesis operation corresponding to the target position before deviation correction. The horizontal axis in FIG. 13 is the position coordinate in the x direction in mm, and the vertical axis is the position coordinate in the x direction in mm. Further, + represents a goal of quary motion, x represents a goal of synthesized motion, □ represents a goal of similar motion, and Δ represents a goal of corrected motion. FIG. 14 is a diagram for explaining an example of the composition operation after correction by the probabilistic road map method.

  In FIG. 11, first, in step S31, a sample operation is input through the input unit 41 and designated. For example, the robot control unit 2B further includes the image display device. For example, as shown in FIG. 12A, the robot control unit 2B uses a simulation model of the robot unit 1 from an initial pose in a predetermined operation of the robot unit 1. A series of postures up to the final pose (goal pose) are displayed on the image display device. In the example shown in FIG. 12A, the input unit 41 out of the images of the postures displayed on the image display device. Is used to designate the initial posture A as the sample operation A. As a result, the sample operation A is input through the input unit 41 and designated. The example shown in FIGS. 12 to 14 shows a case where the robot unit 1 is an acoid SIT and generates a synthesis operation using the three-dimensional position of the hand as an operation parameter.

  Subsequently, in step S32, when the sample operation A is received via the input unit 41, an operation similar to the designated sample operation A is performed by the similar operation search unit 52 in the motion data storage unit 51 as a similar operation. A search is made from a plurality of actions based on a plurality of stored motion data. By the similar motion search process, for example, five motions B, C, D, E, and F shown in FIG. 12B are similar motions from among a plurality of motion data corresponding to 17 motions shown in FIG. Was explored as.

Subsequently, in step S33, the similar action weighting unit w _i is calculated by the similar action synthesizing unit 53 with respect to the similar action searched for by the similar action searching unit 52 using the Welsch weight function expressed by the above equation 2. . In the example shown in FIG. 12, the weighting coefficient w _{i of} each similar operation B, C, D, E, F is calculated for each similar operation B, C, D, E, F searched by the similar operation search unit 52. Is done.

  Subsequently, in step S34, the target position is input and set via the input unit 41. For example, the image display device includes a locus of a predetermined portion (part, a hand in the example shown in FIG. 12) of the robot unit 1 when the robot unit 1 is operated by the similar operation searched in step S33. A convex hull is displayed, and the position within the convex hull is designated by the input unit 41 such as a mouse or a touch pen. As a result, the target position is input and set via the input unit 41.

Subsequently, in step S35, the similar motion synthesis unit 53 performs interpolation using the weight coefficient w _i of the similar motion searched for by the similar motion search unit 52 for the target position set in step S34. Similar actions searched by the similar action search unit 52 are combined. In the example shown in FIG. 12, the similar operations B, C, D, E, and F are synthesized by performing interpolation using the weighting coefficients w _i of these similar operations B, C, D, E, and F. . The result is shown in FIG. As shown in FIG. 13, the synthesis operation is generated from the original target position with an average deviation of 24.64 mm at the Euclidean distance.

  Subsequently, in step S36, the composition operation correction unit 54 determines whether or not the composition operation needs to be corrected. More specifically, the synthesis motion correction unit 54 determines whether or not the deviation between the target position and the synthesis position by the synthesis operation synthesized by the similar motion synthesis unit 53 is equal to or greater than a predetermined third threshold th3. As a result of this determination, if the deviation is equal to or greater than the predetermined third threshold th3, it is determined that the composition operation needs to be corrected (YES), while the deviation is less than the predetermined third threshold th3. If it is, it is determined that the correction of the composition operation is not necessary (NO).

  If it is determined in step S36 that the composition operation needs to be corrected (YES), the process of step S37 is executed. In step S37, the synthesis operation is corrected by the synthesis operation correction unit 54 by the probabilistic roadmap method. When the synthesis operation was corrected for the examples shown in FIGS. 12 and 13, a synthesis operation that perfectly matched all target positions was generated. FIG. 14 shows an example in which a synthesis operation is generated for two types of target three-dimensional positions G and H.

  On the other hand, when it is determined in step S36 that correction of the composition operation is not necessary (NO), the composition operation generation process is terminated. If it is determined in step S36 that correction of the composition operation is not necessary (NO), the composition operation correction unit 54 performs linear interpolation according to the above-described Expression 1 (Expression 1-1, Expression 1-2). The route plan generator 42 may be configured to correct the synthesis operation.

  As described above, in the robot system SB, the robot control unit 2B, and the route plan generation unit 42 in the second embodiment, a plurality of motion data is stored in advance in the motion data storage unit 51 in association with a plurality of operations. It has been. For this reason, the robot system SB, the robot control unit 2B, and the route plan generation unit 42 according to the present embodiment are, for example, motion-capable operations suitable for communication with humans, such as human-like reverberation operations and operations satisfying speed limitations ( Motion data suitable for interaction) can be generated in advance, and the motion data can cause the robot to perform motion suitable for communication with humans.

  Then, the robot system SB, the robot control unit 2B, and the route plan generation unit 42 in the second embodiment operate as described above to generate a synthesis operation and generate a new route plan. For this reason, the robot system SB, the robot control unit 2B, and the route plan generation unit 42 in the present embodiment do not need to optimize the weighting coefficient as in the recursive similar motion search method of Kovar, for example, and the amount of information processing Is reduced, and similar operations can be synthesized in a shorter time. As a result, when communicating with a human, a response with little delay is possible with respect to the human's action, and the operation is more suitable for communication with the human.

  Further, the deviation between the target position and the combined position by the combining operation can be substantially eliminated by correcting the combining operation by the probabilistic road map method, and a more accurate combining operation can be generated.

  As described above, the robot systems SA and SB, the robot control units 2A and 2B, and the route plan generation units 22 and 42 in the first and second embodiments are relatively small motion data databases prepared in advance. In combination with the planning by the probabilistic roadmap method, it is possible to generate various operations maintaining the operation characteristics of the database. In the robot system SA, the robot control unit 2A, and the route plan generation unit 22 in the first embodiment, a connection operation that can be interrupted at any timing is achieved, and the robot system SB, the robot control unit 2B, and the route plan in the second embodiment are achieved. In the generation unit 42, an operation of moving a predetermined part to an arbitrary coordinate is achieved by combining similar operations in the operation group.

  In order to express the present invention, the present invention has been properly and fully described through the embodiments with reference to the drawings. However, those skilled in the art can easily change and / or improve the above-described embodiments. It should be recognized that this is possible. Therefore, unless the modifications or improvements implemented by those skilled in the art are at a level that departs from the scope of the claims recited in the claims, the modifications or improvements are not covered by the claims. It is interpreted that it is included in

S Robot system 1 Robot unit 2 Robot control unit 21, 41 Input unit 22, 42 Path plan generation unit 23, 43 Control signal output unit 31, 51 Motion data storage unit 32 Distance calculation unit 33 Transition destination selection unit 34 Path plan unit 52 Similar motion search unit 53 Similar motion synthesis unit 54 Composite motion correction unit

Claims (8)

Data for operating the robot, the initial posture data giving the initial posture of the motion, the final posture data giving the final posture of the motion, and one or more of the data from the initial posture to the final posture A motion data storage unit for storing a plurality of pieces of motion data including data of one or a plurality of intermediate postures for giving an intermediate posture in association with a plurality of operations;
When it is necessary to transition to another operation during execution of one operation in the plurality of operations, the one of the plurality of motion data stored in the motion data storage unit is A distance calculation unit for obtaining a distance between the first posture after the time when the necessity of the transition in the motion data corresponding to the motion occurs and the second posture in the other motion data;
A transition destination selection unit that selects the other motion data that gives a distance equal to or smaller than the predetermined first threshold as transitionable motion data when the distance obtained by the distance calculation unit is equal to or smaller than the predetermined first threshold. When,
By connecting the data up to the first posture in the motion data corresponding to the one operation being executed and the data after the second posture in the other motion data selected by the transition destination selection unit A route planning unit that generates data for various route plans,
The path planning unit is configured such that a distance between the first posture and the second posture in the other motion data selected by the transition destination selection unit is equal to or less than the predetermined first threshold and is greater than the predetermined first threshold. Generating a data of a route from the first posture to the second posture in the other motion data selected by the transition destination selection unit by the stochastic road map method when the predetermined second threshold value is smaller than or equal to a small value; A route plan generator characterized by the above. The path plan generation device according to claim 1, wherein the second posture is a posture of a first half part in the other operation. Data for operating the robot, the initial posture data giving the initial posture of the motion, the final posture data giving the final posture of the motion, and one or more of the data from the initial posture to the final posture A motion data storage unit for storing a plurality of pieces of motion data including data of one or a plurality of intermediate postures for giving an intermediate posture in association with a plurality of operations;
When one operation is designated as a sample operation from the plurality of operations, the plurality of motion data stored in the motion data storage unit is regarded as a similar operation to the designated sample operation. A similar motion search unit that searches from among the plurality of motions based on
A target position setting unit that sets a target position within a convex hull composed of a locus of a predetermined part of the robot when the robot is operated with a similar operation searched by the similar operation search unit;
A similar motion synthesis unit that synthesizes the target position set by the target position setting unit by interpolating the similar motion searched by the similar motion search unit with a weighting factor using a Welsch weight function. A route plan generator characterized by the above. A combined motion correcting unit that corrects the combined motion by a probabilistic road map method when a deviation between the target position and a combined position by the combined motion combined by the similar motion combining unit is equal to or greater than a predetermined third threshold. The route plan generation device according to claim 3, further comprising: Data for operating the robot and giving an initial posture of the operation when it is necessary to transition to another operation during execution of one operation of a plurality of operations of the robot given in advance A plurality of data including initial posture data, final posture data that gives a final posture of the motion, and one or more intermediate posture data that give one or more intermediate postures from the initial posture to the final posture. For each of the plurality of motion data corresponding to each motion, a first posture after the time when the transition needs to occur in the motion data corresponding to the one motion being executed, and a second posture in the other motion data, A distance calculation step for obtaining a distance of
Transition destination selection step of selecting the other motion data giving a distance equal to or smaller than the predetermined first threshold as transitionable motion data when the distance obtained in the distance calculating step is equal to or smaller than the predetermined first threshold. When,
By connecting the data up to the first posture in the motion data corresponding to the one operation being executed and the data after the second posture in the other motion data selected in the transition destination selection step A route planning step for generating data for a simple route plan,
In the route planning step, a distance between the first posture and a second posture in the other motion data selected in the transition destination selection step is equal to or less than the predetermined first threshold value and is greater than the predetermined first threshold value. Generating a data of a route from the first posture to the second posture in the other motion data selected in the transition destination selection step by a probabilistic road map method when the predetermined second threshold value is smaller than a predetermined second threshold value; A route plan generation method characterized by Data for operating the robot with a motion similar to the specified sample motion as a similar motion when one motion is designated as a sample motion among a plurality of robot motions given in advance. The initial posture data giving the initial posture of the motion, the data of the final posture giving the final posture of the motion, and one or a plurality of intermediate postures between the initial posture and the final posture A similar motion search step for searching from the plurality of motions based on a plurality of motion data including intermediate posture data;
A target position setting step for setting a target position in a convex hull formed from a locus of a predetermined part of the robot when the robot is operated with a similar motion searched in the similar motion search step;
A similar motion synthesis step of synthesizing the target position set in the target position setting step by interpolating the similar motion searched in the similar motion search step with a weighting factor using a Welsch weight function. A route plan generation method characterized by A route plan generation device according to any one of claims 1 to 4,
A robot control apparatus comprising: a control signal output unit that generates and outputs a control signal that causes the robot to perform an operation according to the motion data output from the path plan generation apparatus. With robots,
A robot control unit for controlling the robot,
The robot system according to claim 7, wherein the robot control unit is the robot control device according to claim 7.