Control system, control device, and control method

A control device for operating an end effector including a plurality of joints, the control device comprising:

• an acquisition unit configured to acquire data related to operation information;
• a determination unit configured to determine operation content from the data related to the operation information;
• a decision unit configured to decide a control method of the end effector in accordance with determination content of the determination unit;
• a calculation unit configured to perform joint angle optimization calculation including a priority level decided by the decision unit;
• and
• a command unit configured to transmit a joint angle calculated by the calculation unit to the end effector as an operation command,
• wherein the decision unit has selection indices between two or more control methods,
• wherein each of the selection indices has a boundary between the two or more control methods,
• wherein a boundary width of each of the selection indices is normalized, and
• wherein a switching function obtained by plotting a value of each index using a distance of the boundary between the control methods in the normalized index is set.

A control method for operating an end effector including a plurality of joints, the control method comprising:

• acquiring, by an acquisition unit, data related to operation information;
• determining, by a determination unit, operation content from the data related to the operation information;
• deciding, by a decision unit, a control method of the end effector in accordance with determination content of the determination unit;
• performing, by a calculation unit, joint angle optimization calculation including a priority level decided by the decision unit;
• and
• transmitting, by a command unit, a joint angle calculated by the calculation unit to the end effector as an operation command,
• wherein the decision unit has selection indices between two or more control methods,
• wherein each of the selection indices has a boundary between the two or more control methods,
• wherein a boundary width of each of the selection indices is normalized, and
• wherein a switching function obtained by plotting a value of each index using a distance of the boundary between the control methods in the normalized index is set.