JP6647143B2 - Functional device, control device and control method thereof - Google Patents

Description

  The present invention relates to a functional device operated by an actuator and a control technique thereof.

  Techniques have been proposed for determining the presence / absence of interference between a reference space element representing a moving device (for example, a robot) and a space element representing an object on each of a plurality of determination planes having different vertical positions (see Patent Documents 1 and 2). ). Thus, the route is changed at an appropriate frequency in consideration of the three-dimensional shape characteristics of the moving device and the object, and an appropriate route is set from the viewpoint of reliably avoiding contact between the two.

Patent No. 4143103 (especially the description / paragraphs 0075 to 0082 and the drawings / FIG. 8) Patent No. 4171510 (especially specification / paragraphs 0065 to 0073 and drawings / FIG. 8)

  However, when the shape of each space element is simplified, there is a possibility that the space determination element becomes inappropriate, such as excessively high interference determination sensitivity between the moving device and the object represented by the space element.

  Therefore, an object of the present invention is to provide a functional device or the like that can improve the suitability of the interference determination sensitivity with an object.

  The present invention relates to a functional device including a plurality of parts, an actuator that relatively drives the plurality of parts, and a control device that controls an operation of the actuator according to an action plan.

The functional device of the present invention may be configured such that the control device is configured to execute the current action plan in each of a plurality of determination spaces defined such that the functional device and one or more objects are included in different forms in a real space. An interference determination element that determines the possibility of interference between the functional device and the object, and the interference determination element determines that the functional device and the object can interfere in at least one determination space of the plurality of determination spaces. The action is performed such that a relative position / posture of at least one of the plurality of parts included in the at least one determination space with respect to another part of the plurality of parts is changed, as a requirement. comprising a action plan element for generating a plan of the action plan element, by the interference determination element, a portion of the plurality of decision space In a certain specified determination space, one or more other specified parts included in the specified determination space among the plurality of parts, on the condition that it is determined that the possibility of interference between the functional device and the object is low. The action plan is generated such that the relative position and orientation with respect to are not changed, and the interference determination element determines whether the interference possibility is high or low in a determination space different from the designated determination space among the plurality of determination spaces. As a criterion, a criterion that is higher than a criterion for determining the degree of interference in the designated determination space is used .

  According to the functional device or the control device or the control method of the present invention, when a plurality of parts configuring the functional device operate according to the current action plan, the functional device can interfere with the object in each of the plurality of determination spaces. Sex is determined. The “determination space” is a concept that includes a virtual two-dimensional space (a plane or a curved surface) as well as a virtual three-dimensional space (a space between a pair of planes or a curved surface). The objects included in each of the different determination spaces may be the same object or individual objects.

  In at least one determination space, the relative position / posture of the at least one part with respect to other parts is changed on condition that it is determined that the possibility of interference between at least one part and the object is high. The action plan of the functional device is changed. “Position / posture” means one or both of “position” and “posture”.

  Accordingly, if the relative position / posture of at least one part with respect to another part is changed, it is determined that the possibility of interference with the object is high even though the possibility of interference with the object is low. Can be avoided that the degree of freedom of the operation of the plurality of parts is reduced as a whole due to the restriction.

FIG. 1 is a configuration explanatory view of a robot as one embodiment of a functional device of the present invention. FIG. 3 is an explanatory diagram of a configuration of a robot control device. FIG. 3 is an explanatory diagram regarding a control method of the robot. Explanatory drawing about the action plan before a change (1st Example). Explanatory drawing about the action plan after change (1st Example). Explanatory drawing about the interference determination result (1st Example) before an action plan change. Explanatory drawing about the interference determination result (1st Example) after changing an action plan. Explanatory drawing about the action plan (2nd Example) before a change. Explanatory drawing about the action plan after change (2nd Example). Explanatory drawing about the interference determination result (2nd Example) before changing an action plan. Explanatory drawing about the interference determination result (2nd Example) after changing an action plan. Explanatory drawing about the action plan (3rd Example) before a change. Explanatory drawing about the action plan (3rd Example) after a change. Explanatory drawing about the interference determination result (3rd Example) before changing an action plan. Explanatory drawing about the interference determination result (3rd Example) after changing an action plan.

(Constitution)
The robot 1 which is an embodiment of the functional device of the present invention shown in FIG. 1 is a legged mobile robot, and like a human, a base 10, a head 11 arranged above the base 10, Left and right arms 12 extending from the upper sides of the upper portion of the base 10, hands 126 provided at the respective ends of the left and right arms 12, and left and right extending downward from the lower portion of the base 10. Leg 14. In the drawings, “L (left)” and “R (right)” are assigned to reference numerals to distinguish left and right.

  The base 10 includes an upper base 101 and a lower base 102 that are vertically connected so as to be relatively rotatable around the yaw axis. The head 11 can move, for example, rotate around the yaw axis with respect to the base 10.

  The arm 12 has a first arm link 122 and a second arm link 124. The base 10 and the first arm link 122 are connected via a shoulder joint mechanism (first arm joint mechanism) 121, and the first arm link 122 and the second arm link 124 are connected to an elbow joint mechanism (second arm). The second arm link 124 and the hand 126 are connected via a wrist joint mechanism (third arm joint mechanism) 125. The shoulder joint mechanism 121 has a degree of freedom of rotation around the roll, pitch and yaw axes, the elbow joint mechanism 123 has a degree of freedom of rotation around the pitch axis, and the wrist joint mechanism 125 has a degree of freedom around the roll, pitch and yaw axes. Has a rotational degree of freedom.

  The leg 14 includes a first leg link 142, a second leg link 144, and a foot 146. The base 10 and the first leg link 142 are connected via a hip joint mechanism (first leg joint mechanism) 141, and the first leg link 142 and the second leg link 144 are connected to a knee joint mechanism (second leg joint). The second leg link 144 and the foot 146 are connected via an ankle joint mechanism (a third leg joint mechanism) 145. The hip joint mechanism 141 has a rotational degree of freedom about the roll, pitch and yaw axes, the knee joint mechanism 143 has a rotational degree of freedom about the pitch axis, and the ankle joint mechanism 145 has a rotational degree about the roll and pitch axes. It has a degree of freedom. The hip joint mechanism 141, the knee joint mechanism 143, and the ankle joint mechanism 145 constitute a “leg joint mechanism group”.

  The degree of freedom of translation and rotation of each joint mechanism included in the leg joint mechanism group may be appropriately changed. In addition, any one of the hip joint mechanism 141, the knee joint mechanism 143, and the ankle joint mechanism 145 may be omitted, and a leg joint mechanism group may be configured by a combination of the remaining two joint mechanisms. . Further, when the leg 14 has a second leg joint mechanism different from the knee joint, the leg joint mechanism group may be configured to include the second leg joint mechanism. An elastic material as disclosed in Japanese Patent Application Laid-Open No. 2001-129774 is provided on the bottom of the foot portion 146 to reduce impact upon landing.

  The upper base 101 and the lower base 102, the head 11, the links 122 and 124 of the arm 12, the hand 126 (more precisely, the link of the palm and each finger mechanism which is a component thereof), the link 142 of the leg 14, and The 144 and the foot 146 correspond to “a plurality of parts” whose relative positions and postures can be changed by the actuator 4.

The robot 1, a plurality of internal state sensor S ₁ for measuring the internal state such as the position and orientation at the world coordinate system is mounted. An encoder (not shown) that outputs a signal corresponding to the bending angle (joint angle) of each joint mechanism of the robot 1, and an inclination sensor that outputs a signal corresponding to the posture (specified by the azimuth angle and the elevation angle) of the base 10. , and, like a pressure sensor for determining the different legs 146 and implantation and lifting corresponds to the internal state sensor S _1. An image capturing apparatus for recognizing the position of the robot 1 in the world coordinate system is provided by capturing an image of the surroundings of the robot 1 and recognizing the position of the sign fixed in the world coordinate system based on the captured coordinates. corresponding to the state sensor S _1.

  For example, a pair of left and right head cameras C1, which are mounted on the head 11 and can sense light in various frequency bands, such as a CCD camera or an infrared camera having an imaging range in front of the robot 1, can be adopted as the imaging device. Further, a waist for measuring the position and orientation of the object by detecting near-infrared laser light emitted toward the front and lower side of the robot 1 and reflected by the object, which is mounted on the lower front side of the base 10. A camera (active sensor) C2 can be employed as the imaging device.

The robot 1, the external state sensor S ₂ for measuring the external conditions such as the position of an object in its vicinity is mounted. It said such an imaging device corresponds to an external state sensor S _2.

  The robot 1 further includes a control device 2 and a plurality of actuators 4 for driving each of the plurality of parts by driving each of the plurality of joint mechanisms.

(Configuration of control device)
The control device 2 shown in FIG. 2 includes an ECU (electronic control unit) as hardware and an application program as software. The ECU or the computer includes a CPU or a multi-core processor (arithmetic processing device), a memory (storage device) such as a ROM or a RAM, and an input / output interface circuit.

  The program is stored and held in a storage device in advance, and in response to a request signal transmitted from the robot 1 to an external server, the server distributes or broadcasts the control program to the computer via a network or an artificial satellite. And may be stored in the memory.

  The control device 2 includes an interference determination element 21 and an action plan element 22. The control device and its respective elements 21 and 22 cause the processor to read necessary data and a program from a predetermined area of the memory, and execute the assigned arithmetic processing (details will be described later) on the data according to the program. Is configured or designed to be

  The control device 2 controls each operation of the actuator 4 according to the internal state and the external state according to the “action plan” of the robot 1. The “action plan” includes a plurality of action plan elements having different priorities. In the present embodiment, the “first action plan element” as the designated action plan element and the “second action plan element” as the other action plan elements Action plan element ". That is, in the present embodiment, the designated action plan or at least one action plan element is externally input to the control device 2 or generated by the control device 2.

  The “first action plan element” is, for example, a part of the action plan that gives priority to moving the entire position of the robot 1. The “first action plan element” includes a combination of the lower body 102 and the first leg link 142, the first leg link 142 and the second leg link 144, and the second leg link 144 and the foot 146. The time series of the relative position / posture of the target is included. When the “first action plan element” is the transport of an object using one or both hands 126, the combination of a plurality of parts included therein is different.

  The “second action plan element” is, for example, to stabilize the overall posture of the robot 1 (the overall posture is always stabilized by higher-level control (to achieve global stability when generating a gait). )) Is the part of the action plan that prioritizes and avoids interference with obstacles. The “second action plan element” includes the upper body 101 and the lower body 102, the upper body 101 and the first arm link 122, the first arm link 122 and the second arm link 124, and the second arm link 124. And a time series of relative positions and postures of the respective combinations of the hand part 126 and the hand part 126. When the “second action plan element” is the maintenance of the disciplined state by both legs 14, the combination of the plurality of parts included therein is different.

(Robot control method)
When the robot 1 starts moving or walking in accordance with the action plan, both the index i ₁ representing the number of changes in the first action plan element and the index i ₂ representing the number of changes in the second action plan element are reset to “0”. (FIG. 3 / STEP 02).

  While the robot 1 is moving according to the action plan, the interference determination element 21 calculates the presence mode of the robot 1 and one or more objects in each of the plurality of determination spaces based on the action plan. (FIG. 3 / STEP04).

  The “determination space” is defined such that the robot 1 and one or more objects are included in different forms. In the present embodiment, a plurality of planes (hereinafter, referred to as “determination planes”) that are parallel to the horizontal plane and have different vertical positions or heights are defined as a plurality of determination spaces.

4A, 4B, 6A, FIG. 6B, each of FIGS. 8A and 8B, there is shown the three different discriminant plane P ₁ to P ₃ height. Of the _three determination planes P _{1 to} P ₃ , the determination plane P ₃ including the leg 14 relating to the first action plan element corresponds to the “designated determination plane”. The number of determination surfaces is set to an arbitrary number. As described later, when there is a determination surface determined to have a high possibility of interference between the robot 1 and the object, the number may be increased, for example, a determination surface is added near the determination surface. Conversely, when there is a determination surface determined to have a low possibility of interference between the robot 1 and the object, the number of determination surfaces within a predetermined distance from the determination surface is omitted. It may be reduced. The interval between the determination surfaces may be set arbitrarily. The intervals between the designated determination surfaces may be set smaller than the intervals between the other determination surfaces.

  At least one determination surface may be defined parallel to the vertical plane, or may be defined parallel to a floor surface or a plane representing the schematic shape thereof. At least one determination surface may be defined as a curved surface instead of a plane. One determination surface and another determination surface may intersect. The determination space may be defined as a three-dimensional space surrounded by a plurality of planes or curves.

In order to determine the existence mode of each part of the robot 1 on each determination plane P _i (i = 1, 2, ‥), for example, each part of the robot 1 has a three-dimensional shape that is more simplified than the actual shape. A model represented by a solid is used. Based on the time series of the relative positions and postures of each part with respect to other parts, the position and posture of each of the plurality of parts at each time point in the robot coordinate system are calculated in this model. “Position” is defined by the position of a representative point such as the center of gravity of each part. The “posture” is defined by the azimuth of a vector connecting an end point on the proximal side and an end point on the distal side with respect to the origin of the robot coordinate system (for example, disposed at the lower part of the base 102).

A two-dimensional area whose outline is defined by the intersection line (closed curve) between the surface of each judgment plane P _i and each part is calculated as each part on each judgment plane P _i or a spatial element representing this. From the time series of the overall position of the robot 1, the position of the origin of the robot coordinate system at each time point in the world coordinate system or a coordinate conversion formula is calculated. Therefore, there aspects of each discriminant plane P _i of each part at each time point in the world coordinate system is calculated.

For determining the presence aspects of the object in each discriminant plane P _i, for example, an image obtained through the camera C1 constituting the internal state sensor S ₁ is used. Based on the analysis result of this image, the type of the object (a dynamic object such as a human, a dog, or another robot, or a static object such as a part of a building) is recognized. Then, by querying a storage device or a database (which may be outside the robot 1) based on the recognition result, the object or each of a plurality of parts constituting the object is simplified more than the actual shape. Is recognized as a solid having a three-dimensional shape. If the object is an animal, the position and orientation of the object at each future point in the robot coordinate system or the world coordinate system are predicted from the current position and velocity of the object. Then, a two-dimensional area whose outline is defined by the intersection line (closed curve) between each determination plane P _i and the surface of the object is calculated as an object on each determination plane P _i or a spatial element representing the object.

  The form in which the robot 1 is included in each of the determination surfaces having different heights, that is, at least a part of the plurality of parts of the robot 1 in each of the determination surfaces is derived from the external characteristics of the robot 1 shown in FIG. The shape and size (and position / posture) of the spatial element to be represented are different.

For example, the discriminant plane P ₂ shown in Figure 4A, as shown in Figure 5A, the robot 1 or its relevant part in different times (second arm link base top 101 and left and right 124L, 124R) The presence mode including the outer shape, the position, and the posture of the object X is recognized. The discriminant plane P ₂ shown in FIG. 6A, as shown in Figure 7A, the robot 1 or a corresponding portion (second the arms of the base top 101 and left and right links 124L, 124R) at different times and the object The existence mode including the outer shape, position, and orientation of X ₁ and X ₂ is recognized. The discriminant plane P ₃ shown in Figure 8A, as shown in Figure 9A, the robot 1 or its relevant part in different times (the left and right second leg link 144L, 144R) and the object X ₁ and X _The existence mode including the outer shape, the position, and the posture of the _second is recognized.

Interference determination element 21 determines the designated discriminant plane P _j, the level of potential interference of the robot 1 and the object of present embodiment has been determined at each time point as shown in (Fig. 3 / STEP 06).

For example, in each discriminant plane P _i, when the interval between the robot 1 and the object in any point in time is less than the reference distance, it is determined that there is a high possibility of interference between them. Even if the reference interval for the portion such as the first leg link 142 related to the first action plan element is set smaller than the reference interval for the portion such as the first arm link 122 related to the second action plan element. Good.

  If the time interval between the current time point and the future time point at which the interval between the robot 1 and the object becomes the reference interval or less for the first time is less than or equal to the reference time, it may be determined that the possibility of interference between the two is high. In this case, the reference time for the part such as the first leg link 142 related to the first action plan element is set shorter than the reference time for the part such as the first arm link 122 related to the second action plan element. May be.

  If the movement distance of each part of the robot 1 from the current time point to the future time point is equal to or less than the reference distance, it may be determined that the possibility of interference between the two is high. In this case, the reference distance to the part such as the first leg link 142 related to the first action plan element is set smaller than the reference distance to the part such as the first arm link 122 related to the second action plan element. May be.

In the example of FIG. 9A, while each portion in the current time t = t ₀ on the discriminant plane P ₃ for the specified discriminant plane are sufficiently spaced from the object X ₁ and X _2, as indicated by arrows If you moved according to the current action plan, a second leg link on the right in the future time t = t _k 144R and object X ₁ is interfering or contacting. Therefore, in the example of FIG. 9A, the determination result is affirmative. This is because, as shown in Figure 8A, when viewed robot 1 from the traveling direction, so as to overlap the front of the right leg 14R (or adjacent the horizontal direction) object X ₁ is present Respond to situations where you are.

  When the determination result is affirmative (FIG. 3 / STEP 06 ‥ YES), the action plan element 22 changes the first action plan element (FIG. 3 / STEP 10). As described above, the first action planning element includes the base lower part 102 and the first leg link 142, the first leg link 142 and the second leg link 144, and the second leg link 144 and the foot 146, respectively. The time series of the relative position / posture of the combination is included. For this reason, by changing the first action plan element, the operation mode of the left and right legs 14L and 14R, and thus the overall movement mode of the robot 1, are changed.

Thus, for example, as shown in Figure 8B, the leg 14L of the left and right to slip through between the object X ₁ and X ₂ while the robot 1 is walking crab leftward, the operation mode of the 14R, thus the robot 1 Is changed. In this case, as shown in FIG. 9B, in the designated discriminant plane P _3, the second leg link 144L of the respective left and right each time point t = t _0, t ₁ and t _2, respectively 144R is an object X the first action plan element can be changed from each ₁ and X ₂ so as to be separated sufficiently.

With the change of the first action plan element, it is determined whether the first index i ₁ is equal to or greater than the first threshold N ₁ (FIG. 3 / STEP 12). If the determination result is affirmative (FIG. 3 / YES in STEP 12), stop processing such as stop of movement of the robot 1 is executed. When the determination result is negative (FIG. 3 / NO in STEP 12), the first index i ₁ is increased by “1” (FIG. 3 / STEP 14), and the interference determination element 21 is different from the designated determination surface. On the determination plane P _i , the degree of the possibility of interference between the robot 1 and the object whose existence mode is determined at each time point as described above is determined (FIG. 3 / STEP 16).

In the example of FIG. 5A, at the current time point t = t _{0 on the} determination plane P ₂ , each part is sufficiently separated from the object X (exceeding the reference interval), while the current action is indicated by the arrow. If you moved according to the plan, a second arm link 124R and the object X on the right in the future time t = t _k is the interference or contact. For this reason, in the example of FIG. 5A, the determination result is positive. This is because, as shown in FIG. 4A, when the robot 1 is viewed from the traveling direction side, the object X exists so as to overlap with (or approach in the lateral direction) the right arm body 12R. Respond to the situation.

In the example of FIG. 7A, at the current time point t = t _{0 on the} determination plane P ₂ , each part is sufficiently separated from the objects X ₁ and X _2, while according to the current action plan as indicated by the arrow. If you move, close to the time t = t _k second arm link 124R is the object X ₁ of the right in the future, and, second arm link on the left 124L and object X ₂ is interfering or contacting. Thus, in the example of FIG. 7A, the determination result is positive. As shown in FIG. 6A, when the robot 1 is viewed from the traveling direction side, the robot 1 overlaps (or approaches in the lateral direction) each of the right arm 12R and the left arm 12L. corresponds to a situation in which each object X ₁ and X ₂ are present. 9A can be said to be the same as the example of FIG. 7A.

  If the determination result is negative ("FIG. 3 / STEP16 @ NO"), the action is executed based on the action plan, while if the determination result is positive (FIG. 3 / STEP16 @ YES), the action is performed. (FIG. 3 / STEP 20) The planning element 22 changes the second action planning element, which includes the upper body 101 and the lower body 102, the upper body 101 and the first arm link 122, as described above. The time series of the relative positions and postures of the respective combinations of the first arm link 122 and the second arm link 124 and the combination of the second arm link 124 and the hand 126 are included. Due to the change of the action plan element, the operation mode of the left and right arms 12L and 12R, in addition to the base 10, and thus, the motion that has no or little effect on the overall movement mode of the robot 1 Like are changed.

Thereby, for example, as shown in FIG. 4B, the operation mode of the right arm 12R is changed so that the robot 1 raises the right arm 12 as a whole. In this case, as shown in Figure 5B, the discriminant plane P _2, the second action plan element can be changed to the right of the second arm link 124R in time t = t _m disappears. As shown in FIG. 6B, the robot 1 is rotated around the yaw axis with respect to the lower body 102 so that the right side of the upper body 101 is located behind the left side, and moves the robot 1 in the traveling direction. When viewed from the side (front side), the operation mode of the base 10 and the left and right arms 12L and 12R is such that the right arm 12R is located on the back side of the base 10 while the left arm 12L is located on the front side of the base 10. Is changed. In this case, as shown in Figure 7B, beyond the discriminant plane P _2, the second arm link 124L of the left and right point in time t = t _n, a sufficiently (reference distance 124R from the object X _1, X ₂ T) The second action plan element may be changed to be separated. The operation mode of the base body 10 and the arm body 12 of the robot 1 in the example of FIG. 8B is the same as that in the example of FIG. 6B. That is, in the example of FIG. 8B, both the first action plan element and the second action plan element are changed so that the robot 1 twists the base 10 while walking the crab.

With the change of the second action plan element, it is determined whether or not the second index i ₂ is equal to or more than the second threshold N ₂ (FIG. 3 / STEP 22). If the determination result is affirmative (FIG. 3 / YES in STEP 22), the first action plan element is changed (FIG. 3 / STEP 10). When the determination result is negative (FIG. 3 / STEP 22 ‥ NO), the second index i ₂ is increased by “1” (FIG. 3 / STEP 24), and the robot 1 and the robot 1 at each time point are determined on each determination plane P _i . The processing after the calculation of the existence mode of the object is repeated (see FIG. 3 / STEP04 and the like).

(Effects)
According to the present invention, on at least one determination plane P _i , it is determined that the possibility of interference between at least one part of the robot 1 and the object is high, and the at least one part is determined with respect to other parts. The action plan of the robot 1 is changed so that the relative position / posture is changed (FIG. 3 / STEP 06 ‥ YES → STEP 10, STEP 16 ‥ YES → STEP 20, FIG. 4A → FIG. 4B, FIG. 6A → FIG. 6B, FIG. 8A → see FIG. 8B). 5A → FIG. 5B, FIG. 7A → FIG. 7B, even if it is determined that the possibility of interference with an object is low if the relative position / posture of at least one part relative to another part is changed. 9A → FIG. 9B), it is possible to avoid a situation in which the degree of freedom of movement of a plurality of parts is entirely reduced due to the determination that the possibility of interference with the object is high.

(Another embodiment of the present invention)
In addition to the humanoid robot having a configuration different from that of the above-described embodiment, an animal-type robot, a working arm robot, a vehicle, and the like, including a plurality of parts relatively moved by an actuator, the relative positions and postures of the plurality of parts are provided. Any machine that can change the level of the possibility of interference with an object by the change may be adopted as the functional machine of the present invention.

In the above-described embodiment, the plurality of determination planes P _i are “designated determination planes (see determination plane P _{3 in} FIG. 4A and the like)” and “other determination planes (see determination planes P ₁ and P _{2 in} FIG. 4A and the like)”. Each of the two action plan elements that have been classified and have different priorities according to the interference determination result in the determination plane of each section has been changed. However, as another embodiment, the determination plane is not distinguished, and The action plan may be changed according to the interference determination result. In addition, the determination plane may be divided into three or more sections, and each of the three or more action plan elements having different priorities may be changed according to the interference determination result on the determination plane in each section.

1 robot (functional device), 2 control device, 21 interference determination element, 22 action planning element, 10 base, 11 head, 12 arm, 14 leg, 101 upper body, 102 ‥ base bottom, 122 ‥ first arm link, 124 ‥ second arm link, 126 ‥ hand portion, 142 ‥ first leg link, 144 ‥ second leg link, 126 ‥ foot, P ₁ to P ₃ ‥ Judgment plane, X, X ₁ , X ₂ ‥ Object.

Claims (5)

A functional device, comprising: a plurality of parts, an actuator that relatively drives the plurality of parts, and a control device that controls the operation of the actuator according to an action plan,
The control device,
In each of a plurality of determination spaces defined so that each of the functional device and one or a plurality of objects are included in different forms in a real space, interference between the functional device and the object is possible based on the current action plan. An interference determination element for determining gender,
The at least one of the plurality of parts is required on condition that the interference determination element determines that the possibility of interference between the functional device and the object is high in at least one of the plurality of determination spaces. An action plan element that generates the action plan such that a relative position / posture of at least one part included in one determination space with respect to another part is changed ,
The action plan element, by the interference determination element, in a designated determination space that is a part of the plurality of determination spaces, as a requirement that the possibility of interference between the functional device and the object is determined to be low, The action plan is generated such that the relative position / posture of one or more designated parts included in the designated determination space among the plurality of parts with respect to other parts is not changed,
The interference determination element is higher than a determination criterion of the degree of interference possibility in the designated determination space as a determination criterion for the degree of interference in a determination space different from the designated determination space among the plurality of determination spaces. A functional device characterized by using a standard . The functional device according to claim 1,
The control device controls the operation of the actuator according to an action plan including a plurality of action plan elements having different priorities,
The action plan element generates the action plan by using a determination space including a part used for a specified action plan element having a higher priority than a reference order among the plurality of action plan elements as the specified determination space. Functional device characterized in that: The functional device according to claim 2,
The functional device, wherein the action plan element generates the action plan using the movement of the functional device as the designated action plan element . A control device comprising the control device according to claim 1. A method for controlling the operation of a functional device including a plurality of parts and an actuator that relatively drives the plurality of parts according to an action plan,
In each of a plurality of determination spaces defined so that each of the functional device and the object is included in a different form in a real space, the interference possibility of the functional device and the object is determined based on the current action plan. Interference determination process;
In the interference determination step, at least one of the plurality of portions is determined on the condition that it is determined that the possibility of interference between the functional device and the object is high in at least one of the plurality of determination spaces. An action planning step of generating the action plan such that a relative position and posture of at least one part included in one determination space with respect to another part are changed,
The action planning process, the interference determination process, in a designated determination space that is a part of the plurality of determination space, as a requirement that the possibility of interference between the functional device and the object is determined to be low, The action plan is generated such that the relative position / posture of one or more designated parts included in the designated determination space among the plurality of parts with respect to other parts is not changed,
The interference determination step, as a criterion of the degree of interference possibility in the determination space different from the designated determination space among the plurality of determination spaces, is higher than the criterion of the degree of interference possibility in the designated determination space. A method comprising using criteria .