Control apparatus, control method, and computer-readable storage medium storing a control program

A control method for controlling an operation of a manipulator, the method being implementable by a computer, the method comprising:

• obtaining first sensing data from a first sensor system configured to observe an endpoint of the manipulator;
• calculating a first estimate value of current coordinates of the endpoint in an observation space based on the obtained first sensing data using a first estimation model;
• obtaining second sensing data from a second sensor system configured to observe the endpoint of the manipulator;
• calculating a second estimate value of the current coordinates of the endpoint in the observation space based on the obtained second sensing data using a second estimation model;
• calculating a gradient of an error between the first estimate value and the second estimate value;
• adjusting a parameter value for at least one of the first estimation model or the second estimation model to reduce the error based on the calculated gradient;
• determining a control command for the manipulator to cause coordinates of the endpoint to be closer to a goal value based on at least one of the first estimate value or the second estimate value;
• and
• providing the determined control command to the manipulator to drive the manipulator.

A non-transitory computer-readable storage medium storing a control program for controlling an operation of a manipulator, the program, which when read and executed, causes a computer to perform operations comprising:

• obtaining first sensing data from a first sensor system configured to observe an endpoint of the manipulator;
• calculating a first estimate value of current coordinates of the endpoint in an observation space based on the obtained first sensing data using a first estimation model;
• obtaining second sensing data from a second sensor system configured to observe the endpoint of the manipulator;
• calculating a second estimate value of the current coordinates of the endpoint in the observation space based on the obtained second sensing data using a second estimation model;
• calculating a gradient of an error between the first estimate value and the second estimate value;
• adjusting a parameter value for at least one of the first estimation model or the second estimation model to reduce the error based on the calculated gradient;
• determining a control command for the manipulator to cause coordinates of the endpoint to be closer to a goal value based on at least one of the first estimate value or the second estimate value;
• and
• providing the determined control command to the manipulator to drive the manipulator.