Motion generation method, motion generation device, system, and computer program

A non-transitory computer-readable storage medium storing a computer program for generating a movement for changing a robot from a first orientation to a second orientation, the computer program causing a computer to perform operations comprising:

• acquiring first orientation information that specifies the first orientation and second orientation information that specifies the second orientation, the plurality of priority items comprising a speed of the robot and an acceleration of the robot;
• acquiring a plurality of priority items regarding the movement for changing from the first orientation to the second orientation;
• selecting one of the plurality of priority items;
• generating a motion of the robot comprising a movement path along which the robot moves from the first orientation to the second orientation according to the selected priority item such that the selected priority item is prioritized over others of the plurality of priority items;
• and
• controlling the robot so as to cause the robot to operate according to the generated motion.

A motion generation device for generating a movement for changing a robot from a first orientation to a second orientation, the motion generation device comprising a processor configured with a program to perform operations comprising:

• operation as a first acquisition unit configured to acquire first orientation information that specifies the first orientation and second orientation information that specifies the second orientation, the plurality of priority items comprising a speed of the robot and an acceleration of the robot;
• operation as a second acquisition unit configured to acquire a plurality of priority items regarding the movement for changing from the first orientation to the second orientation, and to select one of the plurality of priority items;
• operation as a movement generation unit configured to generate a motion of the robot comprising a movement path along which the robot moves from the first orientation to the second orientation according to the selected priority item such that the selected priority item is prioritized over others of the plurality of priority items;
• and
• controlling the robot so as to cause the robot to operate according to the generated motion.