PROBLEM TO BE SOLVED: To properly make a manipulator work for a surface of an object.SOLUTION: A manipulator control device includes: a measuring means for performing position measurement at a plurality of points on the surface of an object having curves containing straight lines a manipulator for applying physical action to the surface of the object and a control means for controlling the manipulator on the basis of the measured data by the measuring means. The manipulator control device is further equipped with an operation part that performs circular arc approximation using a plurality of position measurement points near arbitrary position measurement points on the surface of the object. The operation part selects combination of the position measurement points for performing the circular arc approximation as the combination of the highest correlation coefficient of the circular arc approximation. The control means controls the manipulator on the basis of a calibration curve that is obtained by the circular arc approximation computed by the operation part.COPYRIGHT: (C)2012,JPO&INPIT【課題】物体表面に対してマニピュレータを適切に作用させる。【解決手段】直線を含む曲線を有する物体表面上の複数点の位置測定を行う測定手段と、上記物体表面に物理的作用を施すマニピュレータと、上記測定手段による測定データを基に上記マニピュレータを制御する制御手段とからなる。物体表面上の任意の位置測定点の近傍の複数の位置測定点を用いて円弧近似を行う演算部を備え、該演算部は上記円弧近似を行う位置測定点の組合せを前記円弧近似の相関係数が最も高い組合せとして選択し、上記制御手段は演算部で演算された円弧近似によって得られる校正曲線を基にマニピュレータを制御する。【選択図】図1
