Title:
ROBOT CONTROL DEVICE AND ROBOT SYSTEM
Document Type and Number:
Japanese Patent JP2017030106
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To make it possible to exert a positioning control over a robot even in a high radiation environment.SOLUTION: A robot control device 100 according to an embodiment, comprises: a first coordinate transformation unit 111 for transforming coordinates of a target value; a subtraction unit 112; an inverse kinetics calculation unit 113 for calculating a control command of a joint angle to a robot 10 on the basis of an output from the subtraction unit 112; a forward kinetics calculation unit 121 for calculating a position/attitude of a fingertip on the basis of a joint angle signal from the robot 10; a coordinate transformation equation derivation unit 162; an inverse kinetics/forward kinetics calculation equation derivation unit 152; a camera image processing unit 131 for processing a camera image; a position/attitude estimation unit 132 for estimating the position/attitude of the fingertip from the camera image; a second coordinate transformation unit 133 for transforming coordinates of the position/attitude; and a feedback information generation unit 122 for generating feedback information on the basis of an output from the forward kinetics calculation unit 121 and an output from the second coordinate transformation unit 133.SELECTED DRAWING: Figure 1
Inventors:
NAKANO TAKURO
MAEDA KAZUNAO
MAEDA KAZUNAO
Application Number:
JP2015153414A
Publication Date:
February 09, 2017
Filing Date:
August 03, 2015
Export Citation:
Assignee:
TOSHIBA CORP
International Classes:
B25J13/08
Attorney, Agent or Firm:
Patent Business Corporation Sakura International Patent Office