Title:
ロボット制御装置、ロボット装置、ロボット制御のパラメータ調整方法、およびプログラム
Document Type and Number:
Japanese Patent JP7199178
Kind Code:
B2
Abstract:
A robot control device includes a log acquisitor, a first adjuster, and a second adjuster. The log acquisitor is configured to acquire operation data of a robot arm which has been operated by making a target portion of the robot arm follow a predefined target path under a feedback control. The first adjuster is configured to adjust, based on the operation data acquired by the log acquisitor, a first physical parameter for calculating a trajectory of the target portion, to reduce errors between the predefined target path and positions of the target portion. The second adjuster is configured to calculate, based on the first physical parameter adjusted by the first adjuster, the trajectory of the target portion, the second adjuster that is configured to adjust, based on the trajectory calculated by the second adjuster, a second physical parameter to be used for a feed-forward control for controlling the robot arm.
Inventors:
Daimei Junji
Application Number:
JP2018159740A
Publication Date:
January 05, 2023
Filing Date:
August 28, 2018
Export Citation:
Assignee:
Toshiba Corporation
International Classes:
B25J13/00; B25J9/16; G05B11/32; G05B13/02; G05B13/04
Domestic Patent References:
| JP6320451A | ||||
| JP5277976A | ||||
| JP2015030076A |
Other References:
浅田 稔 Minoru Asada,運動学習から行動学習・認知発達へ From Motor Learning to Behavior Learning and Cognitive Development,日本ロボット学会誌 Journal of the Robotics Society of Japan,日本,社団法人日本ロボット学会 The Robotics Society of Japan,2004年03月15日,第22巻 第2号,pp.150-155
Attorney, Agent or Firm:
Patent Attorney Shiga International Patent Office