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Title:
ROBOT SYSTEM AND METHOD FOR CONTROLLING ROBOT
Document Type and Number:
WIPO Patent Application WO/2019/150726
Kind Code:
A1
Abstract:
A robot system (10) and method for controlling a robot (14), wherein during learning, a detection unit (12a) detects, as waveform data for learning, the contact state when a socket (16c) is caused to contact a set position of the head (26) of a bolt (24) and is caused to rotate around the set position within a set movement range. A learning unit (13a) learns a plurality of detected sets of the waveform data for learning and writes the learning results to a determination unit (12c). During practical operations, the determination unit (12c) recognizes the amount that the socket (16c) slips with respect to the bolt (24) on the basis of actual waveform data indicating the change in the contact state when the socket (16c) is in contact with the head (26) of the bolt (24) and the written learning results.

Inventors:
ISHIZUKA YASUTAKA (JP)
ARIMITSU TAKESHI (JP)
GODA KASANE (JP)
YOSHIDA YUTAKA (JP)
MURAOKA KOTARO (JP)
Application Number:
PCT/JP2018/043604
Publication Date:
August 08, 2019
Filing Date:
November 27, 2018
Export Citation:
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Assignee:
HONDA MOTOR CO LTD (JP)
International Classes:
B25J13/08
Foreign References:
JPH09258814A1997-10-03
JPH06206127A1994-07-26
JP2013158850A2013-08-19
JP2015168050A2015-09-28
Other References:
MOTOYAMA, RYO: "Robot task of pin insertion using time history of force signal-Predicting state transitions using recurrent neural network", PROCEEDINGS OF THE 29TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN DVD -ROM, 7 September 2011 (2011-09-07)
Attorney, Agent or Firm:
CHIBA Yoshihiro et al. (JP)
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