ACTION CONTROL APPARATUS, METHOD AND PROGRAM FOR THE SAME

• Main Author: KAWANO, Hiroshi
• Format: Patent
• Language: English
• Published: 19.01.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

An action control device includes a compression process processing unit that envisages a first virtual plane and a second virtual plane, pushes control subjects that are arranged or control subjects that were arranged in a set of starting positions and that abut the second virtual plane in a movement direction of the second virtual plane, thereby compressing the control subjects such that none of the control subjects exceeds the first virtual plane and such that the coordinate values thereof in a first direction remain at or below Xthresh, envisages a third virtual plane and a fourth virtual plane, pushes the control subjects that are included in the compressed shaped acquired using the first and second virtual planes and that abut the fourth virtual plane in a movement direction of the fourth virtual plane, thereby compressing the control subjects such that none of the control subjects exceeds the third virtual plane and such that the coordinate values thereof in a second direction remain at or below Ythresh, and determines the positions of the control subjects included in the compressed shape as a set of intermediate positions M1.