CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM

Registre Brevet WIPO
Numéro d'application JP2020027954
Numéro de publication 2021/033472
Statut Délivré - en vigueur
Date de dépôt 2020-07-17
Date de publication 2021-02-25
Propriétaire OMRON CORPORATION (Japon)
Inventeur(s)
  • Okawa, Yohei
  • Hayashi, Kennosuke
  • Shibata, Yoshiya

Abrégé

Provided are techniques for improving the accuracy of controlling the coordinates of the tip of a manipulator. The control device according to one aspect of the present invention uses a first estimation model to calculate, from a first sensing data acquired by a first sensor system, a first estimated value of the tip coordinates of a manipulator, uses a second estimation model to calculate, from a second sensing data acquired by a second sensor system, a second estimated value of the tip coordinates of the manipulator, and adjusts, on the basis of the gradient of an error between the first estimate value and the second estimate value, the value of a parameter of at least one of the first estimation model and the second estimation model so as to reduce the error.

Classes IPC  ?

  • B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices