Title:
制御装置、制御方法、及び制御プログラム
Document Type and Number:
Japanese Patent JP7263987
Kind Code:
B2
Abstract:
To provide a technology for achieving improvement in the accuracy of controlling a coordinate of a fingertip of a manipulator.SOLUTION: A control device calculates a first estimation value of a fingertip coordinate of a manipulator from first sensing data acquired from a first sensor system by using a first estimation model, calculates a second estimation value of a fingertip coordinate of the manipulator from second sensing data acquired from a second sensor system by using a second estimation model, and, based on a gradient of an error between the first estimation value and the second estimation value, adjusts the value of at least one parameter out of the first estimation model and the second estimation model so that the error becomes small.SELECTED DRAWING: Figure 9
Inventors:
Yohei Okawa
Kennosuke Hayashi
Yoshiya Shibata
Kennosuke Hayashi
Yoshiya Shibata
Application Number:
JP2019161195A
Publication Date:
April 25, 2023
Filing Date:
September 04, 2019
Export Citation:
Assignee:
OMRON Corporation
International Classes:
B25J13/08
Domestic Patent References:
| JP768480A | ||||
| JP2010142901A | ||||
| JP201261558A | ||||
| JP2012101306A |
Foreign References:
| WO2013176212A1 |
Attorney, Agent or Firm:
Kenji Tachibana
Michiko Yamashita
Go Masuda
Michiko Yamashita
Go Masuda
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