Control device, control method, and control program
AssigneeOMRON Corporation
InventorsMasashi Hamaya, Atsushi Hashimoto, Kazutoshi Tanaka, Reina Ishikawa
Life of this patent
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Abstract
The present disclosure provides a control device connected to a robot including an end effector acting on a target object, a drive source for driving the end effector or a robot body, and a tactile sensor provided to the end effector, and that controls the drive source to perform an action on the target object.
Claims19
A control device that is connected to a robot, for controlling a motor of the robot, the robot including an end effector interacting with a target object, the motor for driving the end effector, and a tactile sensor provided at the end effector, and that controls the drive source to perform an action on the target object, the control device comprising:
- a memory;
- and
- a processor that is coupled to the memory and is configured to:
- acquires, using the tactile sensor, a contact force received from the target object at a predetermined time period;
- input an acquired contact force to a model, to predicts a time at which a specific effect occurs on the target object,
- where the model is trained to predict whether or not the specific effect occurs on the target object within a specific time period upon detecting an input contact force;
- and
- controls the motor according to a prediction result predicted by the model.
A control method for a control device that is connected to a robot for controlling s motor of the robot, the robot including an end effector acting on a target object, the motor for driving the end effector, and a tactile sensor provided at the end effector, the control method comprising:
- acquiring, by the tactile sensor, a contact force received from the target object at each of a predetermined time period;
- preparing a model that is trained to predict whether or not a specific effect occurs on the target object at a specific time period upon detecting an input contact force of the target object;
- predicting a time at which the specific effect occurs on the target object upon acquiring the contact force by inputting the acquired contact force to the model;
- and
- controlling the motor according to a prediction result.
A non-transitory storage medium storing a program that causes a computer to execute a control processing offer a control device connected to a robot for controlling a motor, the robot including an end effector interacting with a target object, the motor for driving the end effector, and a tactile sensor provided at the end effector, the control processing comprising:
- acquiring, by using the tactile sensor, a contact force received from the target object at each of a predetermined time periods;
- preparing a model that is trained to predict whether or not a specific effect occurs on the target object at a specific time period upon detecting an input contact force of the target object;
- predicting a time at which the specific effect occurs on the target object upon acquiring the contact force by inputting the acquired contact force to the model;
- and
- controlling the motor according to a prediction result.
Dependencies are inferred from the claim text.