Control device, control method, and non-transitory recording medium
AssigneeNEC Corporation
InventorsTakehiro ITOU, Hiroyuki OYAMA
Life of this patent
Estimating the term…
Abstract
A control device connected to a robot arm with a plurality of joints acquires system information indicating at least a posture state of the robot arm or a drive state of the robot arm. Also, the control device acquires control target information indicating a control target of the robot arm. The control device is configured to calculate, on the basis of the system information, contribution information that is an indicator indicating contribution of the joints to drive of the robot arm on the basis of the control target information. Moreover, the control device is configured to calculate control command information to be used to control driving of each of the joints on the basis of the contribution information.
Claims7
A control device that is connected to a robot arm with a plurality of joints, the control device comprising:
- a memory storing instructions;
- and
- one or more processors connected to the memory and configured to execute the instructions to:
- acquire system information indicating at least a posture state of the robot arm or a drive state of the robot arm;
- acquire control target information indicating a control target of the robot arm;
- calculate, on a basis of the system information, contribution information that is an indicator indicating contribution of the joints to driving of the robot arm on a basis of the control target information;
- and
- calculate control command information to be used to control driving of each of the joints on a basis of the contribution information.
A control method performed by a control device connected to a robot arm with a plurality of joints, the control method comprising:
- acquiring system information indicating at least a posture state of the robot arm or a drive state of the robot arm;
- acquiring control target information indicating a control target of the robot arm;
- calculating, on a basis of the system information, contribution information that is an indicator indicating contribution of the joints to driving of the robot arm on a basis of the control target information;
- and
- calculating control command information to be used to control driving of each of the joints on a basis of the contribution information.
A non-transitory recording medium recording a program that causes a control device connected to a robot arm with a plurality of joints to implement:
- a system information acquisition function of acquiring system information indicating at least a posture state of the robot arm or a drive state of the robot arm;
- a control target acquisition function of acquiring control target information indicating a control target of the robot arm;
- a joint contribution information calculation function of calculating, on a basis of the system information, contribution information that is an indicator indicating contribution of the joints to driving of the robot arm on a basis of the control target information;
- and
- a control command function of calculating control command information to be used to control driving of each of the joints on a basis of the contribution information.
Dependencies are inferred from the claim text.