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.
Claims13
A control device that is 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, the control device comprising:
- a memory;
- and
- a processor that is coupled to the memory and is configured to:
- acquire, by using the tactile sensor, a contact force received from the target object at each of a predetermined time period;
- input the acquired contact force to a model for predicting, for an input contact force, whether or not a specific effect occurs on the target object at a specific time, to predict a time when the specific effect occurs on the target object;
- and
- control the drive source according to a prediction result predicted by the model.
A control method for a control device that is 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, 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 for predicting, for an input contact force, whether or not a specific effect occurs on the target object at a specific time, and predicting a time when the specific effect occurs on the target object by inputting the acquired contact force to the model;
- and
- controlling the drive source according to a prediction result as predicted.
A non-transitory storage medium storing a program that causes a computer to execute a control processing of a control device that is 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, the control device controlling the drive source to perform an action on the target object, the control processing comprising:
- acquiring, by using the tactile sensor, a contact force received from the target object at each of a predetermined time period;
- preparing a model for predicting, for an input contact force, whether or not a specific effect occurs on the target object at a specific time, and predicting a time when the specific effect occurs on the target object by inputting the acquired contact force to the model;
- and
- controlling the drive source according to a prediction result as predicted.
Dependencies are inferred from the claim text.