Title:
ROBOT CONTROL SYSTEM, ROBOT CONTROL METHOD, ROBOT CONTROL PROGRAM, AND ESTIMATION SYSTEM
Document Type and Number:
WIPO Patent Application WO/2023/157137
Kind Code:
A1
Abstract:
A robot control system according to an example comprises: an external force estimation unit that executes an estimation process based on a plurality of disturbance torques corresponding to a plurality of axes of a robot and a plurality of axis positions, and calculates an external force acting on an end effector of the robot as an estimated external force; and a robot control unit that controls the robot on the basis of the estimated external force. The external force estimation unit executes, as at least a part of the estimation process, a calculation using an external force trained model that receives the plurality of disturbance torques and/or the plurality of axis positions as an input.
Inventors:
YOKOYA TSUYOSHI (JP)
Application Number:
PCT/JP2022/006218
Publication Date:
August 24, 2023
Filing Date:
February 16, 2022
Export Citation:
Assignee:
YASKAWA ELECTRIC CORP (JP)
International Classes:
B25J13/00
Domestic Patent References:
| WO2021009903A1 | 2021-01-21 |
Foreign References:
| JP2012024877A | 2012-02-09 | |||
| JP2021049597A | 2021-04-01 |
Attorney, Agent or Firm:
HASEGAWA Yoshiki et al. (JP)
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