Mobile manipulator, method for controlling mobile manipulator, and program therefor
AssigneeOMRON Corporation
InventorsChisato Saito, Toshihiro Moriya
Life of this patent
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Abstract
A mobile manipulator includes a moving apparatus, a manipulator that is connected to the moving apparatus, a controller configured to control the moving apparatus and the manipulator, and an environment acquisition sensor configured to acquire predetermined environmental data originating from an environment at the movement destination to which the mobile manipulator is moved by the moving apparatus in association with a position at the movement destination, and the controller controls at least one of the moving apparatus and the manipulator based on the environmental data.
Claims18
A mobile manipulator comprising:
- a vehicle configured to move from a first position to a second position on a floor;
- a manipulator connected to the vehicle;
- a controller comprising a processor configured with a program to perform operations comprising controlling the vehicle and the manipulator;
- an environment acquisition sensor configured to acquire environmental data comprising a frequency and an amplitude of a vibration from the floor;
- and
- a storage configured to store the environmental data in association with a position of the vehicle,
- wherein the controller controls the vehicle and the manipulator so as to reduce vibration to which the mobile manipulator is exposed based on pieces of the environmental data acquired by the environment acquisition sensor associated with the position of the vehicle, pieces of the environmental data associated with a movement destination of the vehicle, or pieces of the environmental data associated with any point on a moving path between the first position and the second position.
A control method for controlling a mobile manipulator comprising a vehicle configured to move from a first position to a second position on a floor, and a manipulator connected to the vehicle, the control method comprising:
- acquiring environmental data comprising a frequency and an amplitude of a vibration from the floor;
- storing the environmental data in association with a position of the vehicle;
- and
- controlling the vehicle and the manipulator so as to reduce vibration to which the mobile manipulator is exposed based on pieces of the environmental data associated with the position of the vehicle, pieces of the environmental data associated with the position at a movement destination, or pieces of the environmental data associated with any point on a moving path between the first position and the second position.
A non-transitory computer-readable storage medium storing a program for causing a computer for controlling a mobile manipulator comprising a vehicle configured to move from a first position to a second position on a floor, and a manipulator connected to the vehicle, to perform operations comprising:
- acquiring environmental data comprising a frequency and an amplitude of a vibration from the floor;
- storing the environmental data in association with a position of the vehicle;
- and
- controlling the vehicle and the manipulator so as to reduce vibration to which the mobile manipulator is exposed based on pieces of the environmental data associated with the position of the vehicle, pieces of the environmental data associated with the position at a movement destination, or pieces of the environmental data associated with any point on a moving path between the first position and the second position.
Dependencies are inferred from the claim text.