Title:
CONTROL DEVICE, TRANSFER DEVICE, PROGRAM, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2020/090933
Kind Code:
A1
Abstract:
This control device is provided with: a kinesthetic sense information obtainment unit which obtains kinesthetic sense information indicating the magnitude of force and/or torque at a distal end of a manipulator during a period in which a target article is transferred; a mass information obtainment unit which obtains mass information indicating a value predetermined as the mass of the target article; a plan information obtainment unit which obtains plan information indicating details of a plan relating to the trajectory of the distal end and/or a grip part of the manipulator; and a kinesthetic sense estimation unit which estimates, on the basis of the mass information and the plan information, the magnitude of the force and/or the torque detected at the distal end of the manipulator when the manipulator transfers the target article; and a first detection unit which detects an abnormality on the basis of the magnitude of the force and/or the torque indicated in the kinesthetic sense information and the magnitude of the force and/or the torque estimated by the kinesthetic sense estimation unit.
Inventors:
KANEMOTO YOSHIKI (JP)
DIANKOV ROSEN (JP)
DIANKOV ROSEN (JP)
Application Number:
PCT/JP2019/042671
Publication Date:
May 07, 2020
Filing Date:
October 30, 2019
Export Citation:
Assignee:
MUJIN INC (JP)
International Classes:
B25J13/08
Domestic Patent References:
| WO2018185861A1 | 2018-10-11 |
Foreign References:
| JP2013212564A | 2013-10-17 | |||
| JP2009184095A | 2009-08-20 | |||
| JP2013193158A | 2013-09-30 | |||
| JP2016117141A | 2016-06-30 | |||
| JP2002283276A | 2002-10-03 |
Attorney, Agent or Firm:
RYUKA IP LAW FIRM (JP)
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