Control device, control method, and non-transitory computer-readable storage medium

A control method for generating a control command for controlling an operation of a robot device that operates in an environment where a plurality of objects associated with the operation of the robot device is present, the control method causing a computer to execute:

• setting a relative relationship amount between the plurality of objects serving as a final target, the relative relationship amount indicating an attribute related to a relative and physical relationship between the plurality of objects, and the attribute comprises relative coordinates, a force acting, or a state between the plurality of objects;
• repeatedly acquiring observation data from a sensor that observes the plurality of objects present in the environment;
• calculating a relative relationship amount between the plurality of objects from the observation data being acquired;
• determining a series of relative relationship amounts in a target state of the plurality of objects until a relative relationship amount of the final target being set is realized from a relative relationship amount between the plurality of objects at a starting time point of controlling the operation;
• repeatedly determining a control command to be provided to the robot device so that a relative relationship amount in a current state calculated from latest observation data acquired from the sensor is changed to a relative relationship amount in a state of a next transition target of the current state, included in the series of relative relationship amounts until the relative relationship amount of the final target is realized;
• and
• outputting the control command being determined to the robot device.

A non-transitory computer-readable storage medium recording a control program for generating a control command for controlling an operation of a robot device that operates in an environment where a plurality of objects associated with the operation of the robot device is present, the control program causing a computer to execute:

• setting a relative relationship amount between the plurality of objects serving as a final target, the relative relationship amount indicating an attribute related to a relative and physical relationship between the plurality of objects, and the attribute comprises relative coordinates, a force acting, or a state between the plurality of objects;
• repeatedly acquiring observation data from a sensor that observes the plurality of objects present in the environment;
• calculating a relative relationship amount between the plurality of objects from the observation data being acquired;
• determining a series of relative relationship amounts in a target state of the plurality of objects until a relative relationship amount of the final target being set is realized from a relative relationship amount between the plurality of objects at a starting time point of controlling the operation;
• repeatedly determining a control command to be provided to the robot device so that a relative relationship amount in a current state calculated from latest observation data acquired from the sensor is changed to a relative relationship amount in a state of a next transition target of the current state, included in the series of relative relationship amounts until the relative relationship amount of the final target is realized;
• and
• outputting the control command being determined to the robot device.