Title:
CONTROL APPARATUS, WORK ROBOT, PROGRAM, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2020/079886
Kind Code:
A1
Abstract:
A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring section for acquiring N-1 or N pieces of trajectory information respectively indicating N-1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying section for classifying the N-1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning section for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying section.
Inventors:
DIANKOV ROSEN (JP)
Application Number:
PCT/JP2019/023777
Publication Date:
April 23, 2020
Filing Date:
June 14, 2019
Export Citation:
Assignee:
MUJIN INC (JP)
International Classes:
B25J9/16
Foreign References:
| US20150251315A1 | 2015-09-10 | |||
| EP3195990A1 | 2017-07-26 | |||
| EP3363604A2 | 2018-08-22 | |||
| JP2016091053A | 2016-05-23 | |||
| JP2016147330A | 2016-08-18 | |||
| JP2017033429A | 2017-02-09 | |||
| JPS6325174B2 | 1988-05-24 |
Other References:
MCLEAN A ED - FERRÁNDEZ JOSÉ MANUEL ET AL: "Update and repair of a roadmap after model error discovery", ROBOTICS AND AUTONOMOUS SYSTEMS, ELSEVIER BV, AMSTERDAM, NL, vol. 21, no. 1, 1 July 1997 (1997-07-01), pages 51 - 67, XP004093873, ISSN: 0921-8890, DOI: 10.1016/S0921-8890(97)00006-7
ADIYATOV OLZHAS ET AL: "A novel RRT*-based algorithm for motion planning in Dynamic environments", 2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), IEEE, 6 August 2017 (2017-08-06), pages 1416 - 1421, XP033145044, ISBN: 978-1-5090-6758-9, [retrieved on 20170823], DOI: 10.1109/ICMA.2017.8016024
ADIYATOV OLZHAS ET AL: "A novel RRT*-based algorithm for motion planning in Dynamic environments", 2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), IEEE, 6 August 2017 (2017-08-06), pages 1416 - 1421, XP033145044, ISBN: 978-1-5090-6758-9, [retrieved on 20170823], DOI: 10.1109/ICMA.2017.8016024
Attorney, Agent or Firm:
RYUKA IP LAW FIRM (JP)
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