Title:
CONTROL DEVICE, ROBOT ARM SYSTEM, AND ROBOT ARM DEVICE CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2022/074998
Kind Code:
A1
Abstract:
A target object setting unit (16) sets the position of at least one target object in an object being worked on. A feature point recognizer (11) detects a feature point of the object being worked on, from a captured image which has been acquired by means of an imaging device (7), and which includes at least a portion of the object being worked on and the distal end of an object being held. A first position calculator (12) calculates the position of the target object in the coordinate system of the imaging device (7), on the basis of the feature point of the object being worked on. A second position calculator (14) calculates the position of the distal end of the object being held in the coordinate system of the imaging device (7), on the basis of the captured image. A control signal generator (17) converts the position of the target object and the position of the distal end of the object being held, in the coordinate system of the imaging device (7), to positions in the coordinate system of a robot arm device (4), and outputs, to the robot arm device (4), a control signal for moving the distal end of the object being held to the position of the target object on the basis of the converted position of the target object and the converted position of the distal end of the object being held.
Inventors:
OKADA TSUKASA
ISHIGAMI TOMOHIDE
ISOBE YUZUKA
EZAWA KOZO
MATSUYAMA YOSHINARI
TOKUDA KENJI
ISHIGAMI TOMOHIDE
ISOBE YUZUKA
EZAWA KOZO
MATSUYAMA YOSHINARI
TOKUDA KENJI
Application Number:
PCT/JP2021/032999
Publication Date:
April 14, 2022
Filing Date:
September 08, 2021
Export Citation:
Assignee:
PANASONIC IP MAN CO LTD (JP)
International Classes:
B25J13/08
Foreign References:
| JPS60249583A | 1985-12-10 | |||
| JPH06785A | 1994-01-11 | |||
| JPH08132372A | 1996-05-28 |
Attorney, Agent or Firm:
YAMAO, Norihito et al. (JP)
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