| 简介 |
PROBLEM TO BE SOLVED : To provide a control device and a control system for a movable body, by which control higher in stability can be achieved.
SOLUTION : A reach module 14 outputs a reach control value Cr that, according to the position of a target T acquired by a sensor 11, causes an end effector 2 to reach the target position. An avoidance module 15 outputs an avoidance control value Ca for avoiding collision of the end effector 2 with an obstacle O according to the position of the obstacle O, acquired by the sensor 11. A mixing module 16 calculates a mixing control value Cm according to a reach control value of a reach module 14, an avoidance control value of the avoidance module 15, a weighing value Re of the reach control value, and a weighing value Av of the avoidance control value. When a distance D between the end effector 2 and the obstacle O is equal to a predetermined threshold D0, the mixing module 16 sets the weighing value Av for the avoidance control value within a first allowable range including S, a weighing value Re for the reach control value within a second allowable range, a differential value for the avoidance control value within a third allowable range including 0, and a weighing value for the reach control value within a fourth allowable range including 0.
SELECTED DRAWING : Figure 4
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