Title:
CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/167003
Kind Code:
A1
Abstract:
Provided is a control device which is connected to a robot that comprises: an end effector that acts on an object; a driving source that drives the end effector or a robot main body; and a tactile sensor that is provided at the end effector, wherein the control device controls the driving source and acts on the object. The control device comprises: an acquisition unit which acquires, in each predetermined period, a contact force received from the object by using the tactile sensor; an estimation unit which has a model that estimates whether the input contact force causes a prescribed action to occur on the object at a prescribed time, and estimates a time, at which the prescribed action occurs on the object, by inputting the contact force acquired by the acquisition unit to the model; and a control unit which controls the driving source in response to the estimation result estimated by the estimation unit.
Inventors:
HAMAYA MASASHI (JP)
HASHIMOTO ATSUSHI (JP)
TANAKA KAZUTOSHI (JP)
ISHIKAWA REINA (JP)
HASHIMOTO ATSUSHI (JP)
TANAKA KAZUTOSHI (JP)
ISHIKAWA REINA (JP)
Application Number:
PCT/JP2023/005572
Publication Date:
September 07, 2023
Filing Date:
February 16, 2023
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
B25J13/08; B25J9/06; B25J9/18
Domestic Patent References:
| WO2018092254A1 | 2018-05-24 | |||
| WO2021080730A1 | 2021-04-29 |
Foreign References:
| JP2021084210A | 2021-06-03 |
Attorney, Agent or Firm:
TAIYO, NAKAJIMA & KATO (JP)
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