Motion model calculation device, control device, joint mechanism, and motion model calculation method

Patent metadata

Field	Value
Publication number	US-12030192-B2
Application number	US-201917413635-A
Country	US
Kind code	B2
Filing date	Feb 8, 2019
Priority date	Feb 8, 2019
Publication date	Jul 9, 2024
Grant date	Jul 9, 2024

Abstract

What is disclosed is a motion model calculation device which easily creates a motion model for a drive device. The motion model calculation device is connected to a robot arm including a plurality of arms and a joint mechanism which pivotally joins the plurality of arms to a connection part, outputs a predetermined motion command to the joint mechanism, acquires a driving state of the joint mechanism caused by a motion corresponding to the motion command, and calculates, on the basis of the motion command and the driving state, a motion model representing the relationship between an input value representing an input to the joint mechanism and an output value of the joint mechanism with respect to the input.

First claim

What is claimed is:

1. A motion model calculation device communicatively connected to a robot arm including a plurality of arms and joint mechanisms which pivotally join the plurality of arms to connection points, the motion model calculation device comprising:
a memory storing instructions; and
one or more processors connected to the memory and configured to execute the instructions to:
output a prescribed motion command when joining of an arm joint mechanism unit to the robot arm is detected, the arm joint mechanism unit including a combination of one of the arms and one of the joint mechanisms, the combination attachable to and detachable from the robot arm, the prescribed motion command output to the one of the joint mechanisms of the arm joint mechanism unit;
acquire a driving state of the one of the joint mechanisms caused by a motion corresponding to the motion command; and
calculate a motion model representing a relationship between an input value representing an input to the one of the joint mechanisms and an output value of the one of the joint mechanisms with respect to the input on the basis of the motion command and the driving state.

2. The motion model calculation device according to claim 1 , wherein the one or more processors are configured to further execute the instructions to:
sequentially output the motion command to each of the joint mechanisms;
sequentially acquire the driving state caused by the motion corresponding to the motion command of each of the joint mechanisms; and
calculate the motion model of each of the joint mechanisms.

3. The motion model calculation device according to claim 1 , wherein:
the motion model calculation device is connected to a sensor configured to sense the driving state included in the one of the joint mechanisms of the robot arm through communication, and
the one or more processors are configured to further execute the instructions to calculate the motion model of the one of the joint mechanisms.

4. The motion model calculation device according to claim 1 , the one or more processors are configured to further execute the instructions to:
detect the start of generation of the motion model.

5. A joint mechanism, comprising:
a motion model calculation device communicatively connected to a robot arm including a plurality of arms, the joint mechanism and other joint mechanisms which pivotally join the plurality of arms to connection points, the motion model calculation device comprising:
a memory storing instructions; and
one or more processors connected to the memory and configured to execute the instructions to:
output a prescribed motion command when joining of an arm joint mechanism unit to the robot arm is detected, the arm joint mechanism unit including a combination of one of the arms and the joint mechanism, the combination attachable to and detachable from the robot arm, the prescribed motion command output to the joint mechanism;
acquire a driving state of the joint mechanism caused by a motion corresponding to the motion command; and
calculate a motion model representing a relationship between an input value representing an input to the joint mechanism and an output value of the joint mechanism with respect to the input on the basis of the motion command and the driving state.

6. A motion model calculation method performed by a motion model calculation device communicatively connected to a robot arm including a plurality of arms, the joint mechanism and other joint mechanisms which pivotally join the plurality of arms to connection points, the motion model calculation method comprising:
outputting a prescribed motion command when joining of an arm-joint mechanism unit to the robot arm is detected, the arm joint mechanism unit including a combination of one of the arms and one of the joint mechanisms, the combination attachable to and detachable from the robot arm, the prescribed motion command output to the one of the joint mechanisms of the arm joint mechanism unit;
acquiring a driving state of the one of the joint mechanisms caused by a motion corresponding to the motion command; and
calculating a motion model representing a relationship between an input value representing an input to the one of the joint mechanisms and an output value of the one of the joint mechanisms with respect to the input on the basis of the motion command and the driving state.

Assignees

• Nec Corp

Inventors

• Itou Takehiro
• Oyama Hiroyuki

Classifications

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• G05B2219/40527

  Modeling, identification of link parameters · CPC title

• B25J9/1671 Primary

  characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems · CPC title

• B25J9/163 Primary

  learning, adaptive, model based, rule based expert control · CPC title