Path Generation Device, Path Generation Method, and Recording Medium Storing Path Generation Program
US-2021260763-A1 · Aug 26, 2021 · US
Control device, control method, and non-transitory recording medium
US2022009101A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2022009101-A1 |
| Application number | US-201917427970-A |
| Country | US |
| Kind code | A1 |
| Filing date | Feb 8, 2019 |
| Priority date | Feb 8, 2019 |
| Publication date | Jan 13, 2022 |
| Grant date | — |
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- Title
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Abstract
Official abstract text for this publication.
A control device connected to a robot arm with a plurality of joints acquires system information indicating at least a posture state of the robot arm or a drive state of the robot arm. Also, the control device acquires control target information indicating a control target of the robot arm. The control device is configured to calculate, on the basis of the system information, contribution information that is an indicator indicating contribution of the joints to drive of the robot arm on the basis of the control target information. Moreover, the control device is configured to calculate control command information to be used to control driving of each of the joints on the basis of the contribution information.
First claim
Opening claim text (preview).
What is claimed is: 1 . A control device that is connected to a robot arm with a plurality of joints, the control device comprising: a memory storing instructions; and one or more processors connected to the memory and configured to execute the instructions to: acquire system information indicating at least a posture state of the robot arm or a drive state of the robot arm; acquire control target information indicating a control target of the robot arm; calculate, on a basis of the system information, contribution information that is an indicator indicating contribution of the joints to driving of the robot arm on a basis of the control target information; and calculate control command information to be used to control driving of each of the joints on a basis of the contribution information. 2 . The control device according to claim 1 , wherein the system information includes position information of an obstacle that disturbs motion of the robot arm, and the one or more processors are configured to further execute the instructions to: calculate the contribution information using the position information of the obstacle. 3 . The control device according to claim 1 , wherein the one or more processors are configured to further execute the instructions to calculate the contribution information on the basis of the posture state of the robot arm. 4 . The control device according to claim 1 , wherein the one or more processors are configured to further execute the instructions to calculate the contribution information on the basis of the drive state of the robot arm. 5 . The control device according to claim 1 , wherein the one or more processors are configured to further execute the instructions to recalculate the contribution information on the basis of a change in position information of an obstacle. 6 . A control method performed by a control device connected to a robot arm with a plurality of joints, the control method comprising: acquiring system information indicating at least a posture state of the robot arm or a drive state of the robot arm; acquiring control target information indicating a control target of the robot arm; calculating, on a basis of the system information, contribution information that is an indicator indicating contribution of the joints to driving of the robot arm on a basis of the control target information; and calculating control command information to be used to control driving of each of the joints on a basis of the contribution information. 7 . A non-transitory recording medium recording a program that causes a control device connected to a robot arm with a plurality of joints to implement: a system information acquisition function of acquiring system information indicating at least a posture state of the robot arm or a drive state of the robot arm; a control target acquisition function of acquiring control target information indicating a control target of the robot arm; a joint contribution information calculation function of calculating, on a basis of the system information, contribution information that is an indicator indicating contribution of the joints to driving of the robot arm on a basis of the control target information; and a control command function of calculating control command information to be used to control driving of each of the joints on a basis of the contribution information.
Assignees
Inventors
Classifications
Plan path independent from obstacles, then correction for obstacles · CPC title
Inhibit movement in one axis if collision danger · CPC title
Avoiding collision or forbidden zones · CPC title
- B25J9/1666Primary
Avoiding collision or forbidden zones · CPC title
redundant control · CPC title
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Frequently asked questions
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- What does patent US2022009101A1 cover?
- A control device connected to a robot arm with a plurality of joints acquires system information indicating at least a posture state of the robot arm or a drive state of the robot arm. Also, the control device acquires control target information indicating a control target of the robot arm. The control device is configured to calculate, on the basis of the system information, contribution infor…
- Who is the assignee on this patent?
- Nec Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1666. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Thu Jan 13 2022 00:00:00 GMT+0000 (Coordinated Universal Time) (A1). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 4 related publications on this page (citations in our corpus or others sharing the same primary CPC).