JP7492440B2 - ロボット制御システム、ロボット制御方法及びプログラム - Google Patents

ロボット制御システム、ロボット制御方法及びプログラム Download PDF

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JP7492440B2
JP7492440B2 JP2020186988A JP2020186988A JP7492440B2 JP 7492440 B2 JP7492440 B2 JP 7492440B2 JP 2020186988 A JP2020186988 A JP 2020186988A JP 2020186988 A JP2020186988 A JP 2020186988A JP 7492440 B2 JP7492440 B2 JP 7492440B2
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robot
learning
output
environmental sensor
environmental
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JP2022076572A (ja
JP2022076572A5 (enExample
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哲司 中村
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Hitachi Ltd
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Hitachi Ltd
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Priority to PCT/JP2021/031322 priority patent/WO2022102207A1/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2020186988A 2020-11-10 2020-11-10 ロボット制御システム、ロボット制御方法及びプログラム Active JP7492440B2 (ja)

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Application Number Priority Date Filing Date Title
JP2020186988A JP7492440B2 (ja) 2020-11-10 2020-11-10 ロボット制御システム、ロボット制御方法及びプログラム
US18/033,814 US20230390935A1 (en) 2020-11-10 2021-08-26 Robot control system, robot control method, and program
PCT/JP2021/031322 WO2022102207A1 (ja) 2020-11-10 2021-08-26 ロボット制御システム、ロボット制御方法及びプログラム

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JP2022076572A JP2022076572A (ja) 2022-05-20
JP2022076572A5 JP2022076572A5 (enExample) 2023-06-14
JP7492440B2 true JP7492440B2 (ja) 2024-05-29

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WO2024111303A1 (ja) * 2022-11-22 2024-05-30 パナソニックＩｐマネジメント株式会社 学習システム、学習方法およびプログラム
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