Title:
SKILL TRANSFERRING MACHINERY
Document Type and Number:
WIPO Patent Application WO/2019/107454
Kind Code:
A1
Abstract:
According to the present invention, a skill transferring device (900) is provided with: an operation unit (201) which moves a working unit (217); a controller (203) which controls the operation of the operation unit (201); an operation information detection unit (254) which detects operation information on the operation unit (201); and a manipulation unit (202) which outputs a manual operation correction command according to manipulation by an operator (220). The controller (203) is provided with: a basic operation command unit (250) which outputs a basic operation command; a learning unit (252) which outputs an automatic operation correction command; an operation correction command generation unit (272) which adds the manual operation correction command to the automatic operation correction command and generates an operation correction command; an operation correction command storage unit (53) which stores the operation correction command; and an operation information storage unit (256) which stores operation information. The learning unit (252) is configured to machine-learn the operation correction command stored in the operation correction command storage unit (53) by using the operation information stored in the operation information storage unit (256), and, after the machine learning, receive operation information at the time of operation of the operation unit (201) and output the automatic operation correction command. In addition, the operation unit (201) is configured to move the working unit (21) according to the manual movement correction and the automatic operation command based on the basic operation command and the automatic operation correction command.
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Inventors:
HASHIMOTO YASUHIKO
SHIMOMURA NOBUYASU
KAMON MASAYUKI
TANAKA SHIGETSUGU
SHIMOMURA NOBUYASU
KAMON MASAYUKI
TANAKA SHIGETSUGU
Application Number:
PCT/JP2018/043876
Publication Date:
June 06, 2019
Filing Date:
November 28, 2018
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J13/00; B25J3/00; G05B19/4155
Domestic Patent References:
| WO2017033376A1 | 2017-03-02 | |||
| WO2017094424A1 | 2017-06-08 | |||
| WO2016189924A1 | 2016-12-01 |
Foreign References:
| JPS6249403A | 1987-03-04 | |||
| JP2017127964A | 2017-07-27 | |||
| JPH05168B2 | 1993-01-05 | |||
| JP2009211294A | 2009-09-17 |
Other References:
See also references of EP 3718706A4
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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