Title:
POSITION CONTROL DEVICE AND POSITION CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2019/146007
Kind Code:
A1
Abstract:
The present invention is provided with: a path determination unit 802 which, when alignment for two objects involving insertion is included, instructs a control amount for the insertion on the basis of an image acquired from an image capturing unit 201 and a value from a force sensor 801, and learns from a result of the alignment; and a control parameter adjustment unit 1401 which outputs a period control amount adjustment value on the basis of a period control amount set for each control period so as to reach the control amount, and a control amount adapted to an external force based on the value of the force sensor 801, wherein a robot arm 100 is operated by a control amount in which a trajectory generation control and a compliant motion control obtained by using the force sensor 801 are added. It is possible to safely make an attempt even in an initial stage of learning according to the present invention, while trial and error is needed until learning ends and the environment can be destroyed in a typical reinforcement learning model.
Inventors:
YAMANAKA YUTO (JP)
NAMMOTO TAKASHI (JP)
NAMMOTO TAKASHI (JP)
Application Number:
PCT/JP2018/002053
Publication Date:
August 01, 2019
Filing Date:
January 24, 2018
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B25J9/16; B25J9/10; B25J13/08
Domestic Patent References:
| WO2017018113A1 | 2017-02-02 | |||
| WO1998017444A1 | 1998-04-30 |
Foreign References:
| JP2016221660A | 2016-12-28 | |||
| JP2011230245A | 2011-11-17 | |||
| JP2017030135A | 2017-02-09 | |||
| JP2016221642A | 2016-12-28 | |||
| JP2014054715A | 2014-03-27 | |||
| JP2015217486A | 2015-12-07 |
Other References:
KROEGER, TORSTEN ET AL.: "Simple and Robust Visual Servo Control of Robot Arms Using an On-Line Trajectory Generator", 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 18 May 2012 (2012-05-18), pages 4862 - 4869, XP032450906
Attorney, Agent or Firm:
MURAKAMI, Kanako et al. (JP)
Download PDF: