Control device and control method of autonomous mobile robot

Abstract

A control device of an autonomous mobile robot includes one or more manipulators that has a distal end to which a hand for manipulating an object is attached to move it, and a traveling mechanism that is immediately movable in all directions, includes a prioritized multi-target inverse kinematics calculation circuit that obtains a solution while assuming that there is a virtual spring between a current pose and a target pose, and each joint receives virtual torque from the virtual spring; and a priority level determination circuit that individually adjusts operation priority level coefficients that are individually assigned to actuation devices constituting the autonomous mobile robot, by which a spring coefficient of the virtual spring is multiplied, and that correspond to operation priority levels of the actuation devices.

Dependencies are inferred from the claim text.