US 12,629,840 B2Granted

Operation control device, operation control system, operation control method, and storage medium

AssigneeHonda Motor Co., Ltd.

InventorsTomohiro Chaki, Akira Mizutani, Tomohiro Kawakami, Takeshi Chiku, Tomomi Fukui

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Abstract

An operation control device that controls an operation of a robot having a plurality of arms and end effectors connected to each of the arms includes an acquisition unit configured to acquire an operation instruction including a target position of the end effector from an operator, a relative relationship maintenance instruction unit configured to issue an instruction to keep a relative relationship between the end effectors constant, a control command generation unit configured to correct a target position of the end effector to maintain a relative relationship between the end effectors in response to the operation instruction acquired according to an instruction from the relative relationship maintenance instruction unit, and to calculate a joint angle target of the arm based on the corrected target position of the end effector.

Claims7

Dependent claims

An operation control device that controls an operation of a robot having a plurality of arms and an end effector connected to each arm of the plurality of arms, comprising:

at least one processor;
and
at least one memory that stores executable instructions that, when executed by the at least one processor, facilitate performance of operations, comprising:
acquiring an operation instruction including a target position of an end effector of a plurality of end effectors from an operator;
issuing an instruction to maintain a relative relationship between the plurality of end effectors;
correcting a target position of the end effector to maintain a relative relationship between the plurality of end effectors in response to the operation instruction acquired according to the instruction;
calculating a joint angle target of an arm of the plurality of arms based on the corrected target position of the end effector;
and
generating a torque target value serving as a control command by solving inverse kinematics into a form of a quadratic programming problem expressed by a first equation,
minimize
x
⁢
1
2
⁢
x
T
⁢
Qx
+
c
T
⁢
x
⁢
subject
⁢
to
⁢
Ax
≤
b
where,
x (∈Rn) is a variable vector and the joint angle target,
Q (∈Rn×n, n is a natural number, R is a real number) is a constant matrix, and
c (∈Rn) is a constant vector,
where T represents transposition,
the joint angle target x is set to be a joint angular acceleration {umlaut over (q)} or a joint angular velocity {dot over (q)}, and
a relationship between a relative position and posture between the plurality of end effectors to be maintained is represented by a second equation
d
*
-
Δ
⁢
d
<
d
<
d
*
+
Δ
⁢
d
where,
the relative position and posture between the plurality of end effectors is d∈R6,
a target relative position and posture between the plurality of end effectors is d*, and
an allowable error from d* is Δd,
wherein the second equation is expressed by a Jacobian matrix calculation into a form of Ax≤b where a coefficient matrix A and a vector b which is a boundary condition that determines a constraint.

56 more elements

An operation control system comprising:

a plurality of arms, a robot including a plurality of end effectors respectively connected to each arm of the plurality of arms, and
at least one processor;
and
at least one memory that stores executable instructions that, when executed by the at least one processor, facilitate performance of operations, comprising:
acquiring an operation instruction including a target position of an end effector of the plurality of end effectors from an operator;
issuing an instruction to keep a relative relationship between the plurality of end effectors constant;
correcting a target position of the end effector to maintain a relative relationship between the plurality of end effectors in response to the operation instruction acquired according to the instruction;
calculating a joint angle target of an arm of the plurality of arms based on the corrected target position of the end effector;
and
generating a torque target value serving as a control command by solving inverse kinematics into a form of a quadratic programming problem expressed by a first equation,
minimize
x
⁢
1
2
⁢
x
T
⁢
Qx
+
c
T
⁢
x
⁢
subject
⁢
to
⁢
Ax
≤
b
where,
x (∈Rn) is a variable vector and the joint angle target,
Q (∈Rn×n, n is a natural number, R is a real number) is a constant matrix, and
c (∈Rn) is a constant vector,
where T represents transposition,
the joint angle target x is set to be a joint angular acceleration {umlaut over (q)} or a joint angular velocity {dot over (q)}, and
a relationship between a relative position and posture between the plurality of end effectors to be maintained is represented by a second equation
d
*
-
Δ
⁢
d
<
d
<
d
*
+
Δ
⁢
d
where,
the relative position and posture between the plurality of end effectors is d∈R6,
a target relative position and posture between the plurality of end effectors is d*, and
an allowable error from d* is Δd,
wherein the second equation is expressed by a Jacobian matrix calculation into a form of Ax≤b where a coefficient matrix A and a vector b which is a boundary condition that determines a constraint.

57 more elements

An operation control method in an operation control device that controls an operation of a robot including a plurality of arms and a plurality of end effectors respectively connected to each arm of the plurality of arms comprising:

acquiring, by a device comprising at least one processor, an operation instruction including a target position of an end effector of the plurality of end effectors from an operator;
issuing, by the device, an instruction to keep a relative relationship between the plurality of end effectors constant;
correcting, by the device, a target position of the end effector to maintain a relative relationship between the plurality of end effectors in response to the operation instruction acquired according to the instruction to keep a relative relationship between the plurality of end effectors constant;
calculating, by the device, a joint angle target of an arm of the plurality of arms based on the corrected target position of the end effector;
and
generating a torque target value serving as a control command by solving inverse kinematics into a form of a quadratic programming problem expressed by a first equation,
minimize
x
⁢
1
2
⁢
x
T
⁢
Qx
+
c
T
⁢
x
⁢
subject
⁢
to
⁢
Ax
≤
b
where,
x (∈Rn) is a variable vector and the joint angle target,
Q (∈Rn×n, n is a natural number, R is a real number) is a constant matrix, and
c (∈Rn) is a constant vector,
where T represents transposition,
the joint angle target x is set to be a joint angular acceleration {umlaut over (q)} or a joint angular velocity {dot over (a)}, and
a relationship between a relative position and posture between the plurality of end effectors to be maintained is represented by a second equation
d
*
-
Δ
⁢
d
<
d
<
d
*
+
Δ
⁢
d
where,
the relative position and posture between the plurality of end effectors is d∈R6,
a target relative position and posture between the plurality of end effectors is d*, and
an allowable error from d* is Δd,
wherein the second equation is expressed by a Jacobian matrix calculation into a form of Ax≤b where a coefficient matrix A and a vector b which is a boundary condition that determines a constraint.

53 more elements

A non-transitory machine-readable medium that, when executed by at least one processor, facilitates performance of operations of a robot including a plurality of arms and a plurality of end effectors respectively connected to each arm of the plurality of arms, the operations comprising:

acquiring an operation instruction including a target position of an end effector of the plurality of end effectors from an operator,
issuing an instruction to keep a relative relationship between the plurality of end effectors constant,
correcting a target position of the end effector to maintain a relative relationship between the plurality of end effectors in response to the operation instruction acquired according to the instruction to keep a relative relationship between the plurality of end effectors constant,
calculating a joint angle target of an arm of the plurality of arms based on the corrected target position of the end effector, and
generating a torque target value serving as a control command by solving inverse kinematics into a form of a quadratic programming problem expressed by a first equation,
minimize
x
⁢
1
2
⁢
x
T
⁢
Qx
+
c
T
⁢
x
⁢
subject
⁢
to
⁢
Ax
≤
b
where,
x (∈Rn) is a variable vector and the joint angle target,
Q (∈Rn×n, n is a natural number, R is a real number) is a constant matrix, and
c (∈Rn) is a constant vector,
where T represents transposition,
the joint angle target x is set to be a joint angular acceleration {umlaut over (q)} or a joint angular velocity {dot over (a)}, and
a relationship between a relative position and posture between the plurality of end effectors to be maintained is represented by a second equation
d
*
-
Δ
⁢
d
<
d
<
d
*
+
Δ
⁢
d
where,
the relative position and posture between the plurality of end effectors is d∈R6,
a target relative position and posture between the plurality of end effectors is d*, and
an allowable error from d* is Δd,
wherein the second equation is expressed by a Jacobian matrix calculation into a form of Ax≤b where a coefficient matrix A and a vector b which is a boundary condition that determines a constraint.

52 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/608,971Filed 19 Mar 2024
Priority: JP 2023-04810724 Mar 2023
Published: US 2024/0316780 A126 Sep 2024
Granted: 19 May 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification5 codes

B25J 9/1692
Characterised by the tasks executed: calibration of manipulator
B25J 9/1643
Characterised by the control loop: redundant control
B25J 9/1682
Characterised by the tasks executed: dual arm manipulator; Coordination of several manipulators
B25J 11/0045
Manipulators not otherwise provided for: manipulators used in the food industry