Title:
ROBOT SYSTEM AND ROBOT CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2019/116891
Kind Code:
A1
Abstract:
A robot system (1) comprises a robot (10), an image acquisition unit (21), an image prediction unit (22), and a movement control unit (24). The image acquisition unit (21) acquires a current image, which is an image captured by a robot camera (31) disposed so as to move with an end effector (13). The image prediction unit (22) performs processing to predict a next image, which is the image that the robot camera (31) should capture next, on the basis of the current image and a teaching image model that is constructed by performing machine learning wherein a teaching image is the image that the robot camera (31) is expected to capture when an adjustment action is performed by a mobile unit (12). The movement control unit (24) calculates a command value for moving the mobile unit (12) so the image captured by the robot camera (31) approximates the next image and controls the mobile unit (12) on the basis of the command value.
Inventors:
HASUNUMA HITOSHI
ENOMOTO MASAYUKI
ENOMOTO MASAYUKI
Application Number:
PCT/JP2018/043700
Publication Date:
June 20, 2019
Filing Date:
November 28, 2018
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J9/22
Foreign References:
| JP2013158847A | 2013-08-19 | |||
| JP2015085458A | 2015-05-07 | |||
| JP2009237710A | 2009-10-15 | |||
| JP2012061587A | 2012-03-29 | |||
| JP2010250469A | 2010-11-04 | |||
| JPS58101303A | 1983-06-16 | |||
| JPH07244519A | 1995-09-19 | |||
| US20160243704A1 | 2016-08-25 | |||
| CN105196292A | 2015-12-30 |
Attorney, Agent or Firm:
KATSURAGAWA, Naoki (JP)
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