Title:
制御装置、ロボットシステム及び制御方法
Document Type and Number:
Japanese Patent JP7357689
Kind Code:
B2
Abstract:
A control device (50) for controlling a robot device (100) comprises: a correction parameter calculation unit (72) that executes a first process of calculating a correction parameter corresponding to a difference between an actual movement trajectory of a first link calculated when a plurality of motors (M1, M2, M3, M4, M5, M6) are driven on the basis of predetermined movement data for learning, and an ideal movement trajectory of the first link when the plurality of motors (M1, M2, M3, M4, M5, M6) are driven on the basis of the movement data for learning; and a movement instruction unit (74) that corrects actual movement data using the correction parameter when the plurality of motors (M1, M2, M3, M4, M5, M6) are driven on the basis of the actual movement data, and generates a movement instruction for the plurality of motors (M1, M2, M3, M4, M5, M6) on the basis of the actual movement data thus corrected.
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Inventors:
Yoshihiro Hosokawa
Hiroki Amemori
Shoichi Ichioka
Hayato Yamanaka
Saori Matsunaga
Hiroki Amemori
Shoichi Ichioka
Hayato Yamanaka
Saori Matsunaga
Application Number:
JP2021561148A
Publication Date:
October 06, 2023
Filing Date:
March 19, 2020
Export Citation:
Assignee:
Mitsubishi Electric Corporation
International Classes:
B25J9/10; B25J13/00; G05B19/404; G05B19/4103
Domestic Patent References:
| JP2003530230A | ||||
| JP2016078149A | ||||
| JP2021013983A |
Foreign References:
| CN109571473A | ||||
| CN109664303A |
Attorney, Agent or Firm:
Yoichi Yamagata
Masaru Sato
Masahiko Shinohara
Minoru Maeda
Masaru Sato
Masahiko Shinohara
Minoru Maeda
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