Title:
WORKING STATE DETERMINATION DEVICE, METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2022/239545
Kind Code:
A1
Abstract:
An acquisition unit (32) acquires data detected by a force sensor that detects a force acting on a tip portion of a robot hand. A determination unit (38) inputs data obtained from the acquisition unit (32) into a determiner (36), which determines the working state of the robot hand, and determines the working state, said determiner (36) combining a first determiner for extracting a feature of a normality-based working state and a second determiner for extracting a feature of an anomaly-based working state and outputting, as the working state, three states which are work completion, work continuation, and work continuation impossibility.
Inventors:
OKI KENTARO (JP)
MATOBA SHUNSUKE (JP)
MATOBA SHUNSUKE (JP)
Application Number:
PCT/JP2022/015156
Publication Date:
November 17, 2022
Filing Date:
March 28, 2022
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
B25J13/08
Foreign References:
| JP2004014682A | 2004-01-15 | |||
| JP2001243210A | 2001-09-07 | |||
| JP2011230245A | 2011-11-17 |
Other References:
M. KARLSSONA. ROBERTSSONR. JOHANSSON: "Detection and control of contact force transients in robotic manipulation without a force sensor", 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA, 2018
Attorney, Agent or Firm:
TAIYO, NAKAJIMA & KATO (JP)
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