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US 11,745,350 B2Granted
Control method and control system of manipulator
AssigneesHyundai Motor Company, Kia Motors Corporation
InventorsJae Ho Lee, Seok Won Lee
Life of this patent
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Abstract
A control method of a manipulator is provided. The method includes photographing a target using a camera and detected the target using the photographed data. A holding motion for the target is set based on the detected target and a robot is operated to hold the target based on the set holding motion.
Claims15
A control method of a manipulator, comprising:
- capturing, by a controller, an image of a target by operating a camera and detecting the target using data of the captured image;
- setting, by the controller, a holding motion for the target based on the detected target;
- and
- operating, by the controller, a robot to hold the target based on the set holding motion,
- wherein, in detecting the target, a plurality of properties of the target are derived by comparing data of the captured image of the target with a database stored in advance,
- wherein the plurality of properties of the target are strength, a modulus of elasticity, and a coefficient of friction according to material of the target, and
- wherein, in setting the holding motion for the target, an initial holding force is set based on the strength of the detected target to inhibit prevent breaking or deforming the target.
4 more elements
A control system of a manipulator, comprising:
- a camera configured to photograph a target;
- a target recognizer configured to detect the target using data photographed by the camera;
- a holding motion setter configured to set a holding motion for the target based on the target detected by the target recognizer;
- and
- a robot controller configured to operate a robot to hold the target based on the holding motion set by the holding motion setter, and
- a memory in which three-dimensional (3D) images according to data or a database of materials is stored in advance, and the target recognizer is configured to derive properties of the target by comparing the data of the photographed target with the database stored in advance in the memory,
- wherein the properties of the target are strength, a modulus of elasticity, and a coefficient of friction according to material of the target, and
- wherein, in setting the holding motion for the target, an initial holding force is set based on the strength of the detected target to prevent breaking or deforming the target.
5 more elements
Dependencies are inferred from the claim text.