Robot control apparatus, control method and control program
AssigneeSony Interactive Entertainment Inc.
InventorsTakeshi Yamagishi, Norio Nagatsuka, Naoki Numaguchi
Life of this patent
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Abstract
A control device for a robot includes a processor configured to implement: a function of obtaining a signal indicating a detected value of a sensor detecting a state quantity of the robot; and a function of, in converting the detected value to an estimated value of the state quantity according to a conversion function obtained by calibration of the sensor, applying an offset value compensating for a difference between the estimated value and the actual state quantity in a critical situation in operation of the robot.
Claims12
A control device for a robot, the control device comprising a processor configured to carry out actions, comprising:
- obtaining a signal indicating detected values from a sensor detecting a state quantity of the robot, where the state quantity includes rotational angles of a joint portion of the robot;
- converting the detected values to estimated values of the state quantity according to a conversion function obtained by calibration of the sensor, where the conversion function produces estimated values that deviate to varying degrees from actual values representing actual rotational angles of a joint portion;
- determining whether the operation of the robot is in a critical situation that is vulnerable to malfunction resulting from the deviation of the estimated values from the actual values;
- computing offset values compensating for the deviations in the estimated values and the actual values;
- and
- applying the offset values to change the estimated values when the determination is in the affirmative that the operation of the robot is in a critical situation.
A control method for a robot, the control method comprising:
- obtaining a signal indicating detected values from a sensor detecting a state quantity of the robot, where the state quantity includes rotational angles of a joint portion of the robot;
- converting the detected values to estimated values of the state quantity according to a conversion function obtained by calibration of the sensor, where the conversion function produces estimated values that deviate to varying degrees from actual values representing actual rotational angles of a joint portion;
- determining whether the operation of the robot is in a critical situation that is vulnerable to malfunction resulting from the deviation of the estimated values from the actual values;
- computing offset values compensating for the deviations in the estimated values and the actual values;
- and
- applying the offset values to change the estimated values when the determination is in the affirmative that the operation of the robot is in a critical situation.
A non-transitory, computer readable storage medium containing a control program for a robot, the control program, which when executed by a processor included in the robot, causes the processor to carry out actions, comprising:
- obtaining a signal indicating detected values from a sensor detecting a state quantity of the robot, where the state quantity includes rotational angles of a joint portion of the robot;
- converting the detected values to estimated values of the state quantity according to a conversion function obtained by calibration of the sensor, where the conversion function produces estimated values that deviate to varying degrees from actual values representing actual rotational angles of a joint portion;
- determining whether the operation of the robot is in a critical situation that is vulnerable to malfunction resulting from the deviation of the estimated values from the actual values;
- computing offset values compensating for the deviations in the estimated values and the actual values;
- and
- applying the offset values to change the estimated values when the determination is in the affirmative that the operation of the robot is in a critical situation.
Dependencies are inferred from the claim text.