Title:
CONTROL DEVICE, ROBOT SYSTEM, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2022/153345
Kind Code:
A1
Abstract:
This control device (2) comprises: an image acquiring unit (21) that acquires a captured image in which at least an end part (7) of an FPC (6) gripped by a robot hand (4) is imaged; a mask image generating unit (22) that generates a mask image (5C) by using a trained model, which uses the captured image as an input to output the mask image (5C); a feature point extracting unit (23) that extracts feature points of the end part (7) from the mask image (5C); a control amount calculating unit (24) that uses the feature points of the end part (7) for each mask image (5C) and calculates a control amount for a robot arm (3) to bring the robot hand (4) closer to the end part (7); and a control unit (25) that controls the robot arm (3) on the basis of the control amount calculated by the control amount calculating unit (24).
Inventors:
MATSUNAGA SAORI (JP)
Application Number:
PCT/JP2021/000604
Publication Date:
July 21, 2022
Filing Date:
January 12, 2021
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B25J13/08
Foreign References:
| JP2019056966A | 2019-04-11 | |||
| JP2020001127A | 2020-01-09 | |||
| JP2009107043A | 2009-05-21 | |||
| JPH05165525A | 1993-07-02 |
Attorney, Agent or Firm:
SANNO PATENT ATTORNEYS OFFICE (JP)
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