Title:
SKILL TRANSFERRING MACHINERY
Document Type and Number:
WIPO Patent Application WO/2019/107455
Kind Code:
A1
Abstract:
This skill transferring machinery (500) is provided with: an operation unit (201) which can correct a movement of a working unit (217) by physically applying, by an operator, a force to the working unit (217) directly or indirectly, and moves the working unit (217) so as to perform work; a controller (203) which controls an operation of the operation unit (201); an operation information detection unit (254) which detects operation information on the operation unit (201), the operation information corresponding to the movement of the working unit (217); and a manual movement correction data generation unit (282) which subtracts an automatic operation command from operation data included in the operation information detected by the operation information detection unit (254) and generates manual movement correction data. 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; a movement correction data generation unit (272) which adds a manual movement correction command to the automatic operation correction command and generates movement correction data; a movement correction data storage unit (283) which stores the movement correction data; and an operation information storage unit (254) which stores operation information. The learning unit (252) is configured to machine-learn the movement correction data stored in the movement correction data storage unit (283) 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 an automatic operation correction command. In addition, the operation unit (201) is configured to move the working unit (217) according to the manual movement correction and an automatic operation command based on the basic operation command and the automatic operation correction command.
Inventors:
HASHIMOTO YASUHIKO
SHIMOMURA NOBUYASU
KAMON MASAYUKI
TANAKA SHIGETUGU
SHIMOMURA NOBUYASU
KAMON MASAYUKI
TANAKA SHIGETUGU
Application Number:
PCT/JP2018/043877
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 3718707A4
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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