Title:
ROBOT CONTROL DEVICE, ROBOT CONTROL SYSTEM, AND ROBOT CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2022/044742
Kind Code:
A1
Abstract:
This robot control device comprises: a control unit for generating and outputting control information relating to an operation amount for controlling operation of a robot; an information acquisition unit for acquiring, as actual physical information, physical information indicating a result of operation actually performed by the robot on the basis of the control information; an operation estimation unit that outputs information, which is outputted from a plant model as a result of input of the control information into the plant model, as estimated physical information, which is physical information that is obtained when it is estimated that the robot has performed ideal operation on the basis of the control information, the plant model being a model of an ideal state of the robot; and a state estimation unit for estimating the state of the robot on the basis of the actual physical information and the estimated physical information. The control unit generates the control information also on the basis of the estimation result of the state of the robot.
Inventors:
ONO KAZUKI (JP)
MORI MASATO (JP)
ISHIDA TAKAYUKI (JP)
MIYAMURA HIROAKI (JP)
MORI MASATO (JP)
ISHIDA TAKAYUKI (JP)
MIYAMURA HIROAKI (JP)
Application Number:
PCT/JP2021/028972
Publication Date:
March 03, 2022
Filing Date:
August 04, 2021
Export Citation:
Assignee:
KYOCERA CORP (JP)
International Classes:
B25J19/06
Foreign References:
| JP2011212831A | 2011-10-27 | |||
| JP2020071727A | 2020-05-07 | |||
| JP2003165079A | 2003-06-10 |
Attorney, Agent or Firm:
SUGIMURA Kenji (JP)
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