Motion plan device, motion plan method, and recording medium

A motion plan method comprising:

• setting a first condition in which a robot performing a pick-and-place for one or more transport objects and the one or more transport objects are located inside movable region being a region where no collision with a collision avoidance necessary target occurs, and a second condition in which, while the robot is grasping and carrying the transport object, the movable region around the collision avoidance necessary target of the robot and the movable region around the collision avoidance necessary target of the transport object being carried match with each other;
• calculating a motion plan of the robot based on the first condition and the second condition;
• and
• controlling the motion plan to be transmitted to the robot to control the robot to realize the motion plan,
• wherein the first condition includes a third condition that the transport object is located inside the movable region around the collision avoidance necessary target, and
• wherein the method further comprises skipping an evaluation concerning the third condition while the transport object is not being transported when calculating the motion plan.

A non-transitory computer-readable recording medium storing a program, the program causing a computer to perform a process comprising:

• setting a first condition in which a robot performing a pick-and-place for one or more transport objects and the one or more transport objects are located inside movable region being a region where no collision with a collision avoidance necessary target occurs, and a second condition in which, while the robot is grasping and carrying the transport object, the movable region around the collision avoidance necessary target of the robot and the movable region around the collision avoidance necessary target of the transport object being carried match with each other;
• calculating a motion plan of the robot based on the first condition and the second condition;
• and
• controlling the motion plan to be transmitted to the robot to control the robot to realize the motion plan,
• wherein the first condition includes a third condition that the transport object is located inside the movable region around the collision avoidance necessary target, and
• wherein the program causing the computer to perform skipping an evaluation concerning the third condition while the transport object is not being transported when calculating the motion plan.