Title:
COMMAND VALUE GENERATING DEVICE, METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/037634
Kind Code:
A1
Abstract:
An acquiring unit (31) acquires a command value for causing a robot (40) to execute work on a target object, operation data representing, at least, an operation of the robot (40), the operation data being state data representing a state of the robot (40) when the operation of the robot (40) during the work is being taught manually, position and attitude data representing a relative position and a relative attitude between the robot (40) and the target object, and a plurality of types of state data including external force data representing an external force applied to the target object during the work, and a generating unit (33) generates a generator for generating a command value for causing the robot (40) to execute an operation corresponding to input state data, on the basis of the command value and the state data acquired by the acquiring unit (31) in a corresponding period.
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Inventors:
ABE MASAYOSHI (JP)
KAWAKAMI SHINJI (JP)
KANAI AKINOBU (JP)
SAITOH YUMI (JP)
KAWAKAMI SHINJI (JP)
KANAI AKINOBU (JP)
SAITOH YUMI (JP)
Application Number:
PCT/JP2022/015158
Publication Date:
March 16, 2023
Filing Date:
March 28, 2022
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
B25J9/22
Domestic Patent References:
| WO2019107454A1 | 2019-06-06 |
Foreign References:
| JP2018190241A | 2018-11-29 | |||
| JP2020082332A | 2020-06-04 | |||
| JP2020192640A | 2020-12-03 | |||
| JP2020192641A | 2020-12-03 | |||
| JP2021030360A | 2021-03-01 |
Other References:
INSTITUTE OF ROBOTICS AND MECHATRONICS-SARA, 18 June 2021 (2021-06-18), Retrieved from the Internet
KUNIAKI NODA: "MULTIMODAL INTEGRATION FOR ROBOT SYSTEMS USING DEEP LEARNING", WASEDA UNIVERSITY DOCTORAL DISSERTATION, July 2015 (2015-07-01)
KUNIAKI NODA: "MULTIMODAL INTEGRATION FOR ROBOT SYSTEMS USING DEEP LEARNING", WASEDA UNIVERSITY DOCTORAL DISSERTATION, July 2015 (2015-07-01)
Attorney, Agent or Firm:
TAIYO, NAKAJIMA & KATO (JP)
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