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Patent Searching and Data


Title:
FOLLOWING ROBOT
Document Type and Number:
WIPO Patent Application WO/2021/235331
Kind Code:
A1
Abstract:
Provided is a following robot (10) comprising: an arm (10a); at least one visual sensor (50) provided to the arm; a feature amount storage unit in which a first feature amount relating to at least the position and orientation of an object to be followed (102) is stored as target data for causing the visual sensor to follow the target to be followed; a feature amount detection means that detects a second feature amount relating to at least the current position and orientation of the object to be followed using an image acquired by the visual sensor; a movement amount calculation means that calculates a movement command for the arm on the basis of the difference between the second feature amount and the first feature amount and adjusts the movement command using at least feedforward control; a movement command means that causes the arm to move on the basis of the movement command; and an input value storage unit that associates and stores a signal obtained at the start time of a specific operation by the object to be followed and a feedforward control input value for causing the arm to follow the path of the object to be followed in the specific operation.

Inventors:
KOGA, Kentaro (3580 Shibokusa Aza-komanba, Oshino-mura, Minamitsuru-gu, Yamanashi 97, JP)
Application Number:
PCT/JP2021/018348
Publication Date:
November 25, 2021
Filing Date:
May 14, 2021
Export Citation:
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Assignee:
FANUC CORPORATION (Shibokusa Aza-komanba Oshino-mura, Minamitsuru-gu, Yamanashi 97, JP)
International Classes:
B25J13/08
Attorney, Agent or Firm:
UEDA, Kunio et al. (39F The Landmark Tower Yokohama 2-2-1, Minatomirai, Nishi-ku, Yokohama-sh, Kanagawa 39, JP)
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