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US 9,486,920 B2Granted
Control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorsYudai Fudaba, Yuko Tsusaka, Taichi Sato
Life of this patent
Estimating the term…
Abstract
In a control apparatus for a robot arm, the feedback rule generating section generates a feedback rule in accordance with relationship between a time point of generation of a stimulus and variation in behavior after elapse of a reaction time in taught data as detected by the information variation point detecting section and the behavior variation point detecting section. The motion generating section generates a motion of the robot arm based on motion information, an information variation point, a behavior variation point, and the feedback rule. The controller controls the motion of the robot arm.
Claims16
A control apparatus for controlling a motion of a robot arm, the control apparatus comprising:
- a motion information acquiring section that acquires motion information including at least one of a position, orientation, and velocity of the robot arm in motion;
- an environment information acquiring section that acquires environment information including at least one of force information, sound volume information, and positional information related to peripheral environment and generated by the robot arm in motion;
- a predetermined reaction time information acquiring section that acquires information of predetermined reaction time as predetermined time information from receipt of the environment information by a person to manipulation of the robot arm by the person;
- an information variation point detecting section that detects, as an information variation point, a time point where at least one of the motion information acquired by the motion information acquiring section and the environment information acquired by the environment information acquiring section varies;
- a behavior variation point detecting section that searches time from a time point after elapse of the predetermined reaction time from the information variation point, for the time point where at least one of the motion information acquired by the motion information acquiring section and the environment information acquired by the environment information acquiring section varies, to detect an initially detected time point as a behavior variation point;
- a feedback rule generating section that generates, as a feedback rule, at least one of the motion information acquired by the motion information acquiring section and the environment information acquired by the environment information acquiring section in time from the behavior variation point;
- a motion generating section that generates a motion of the robot arm based on the motion information, the information variation point, the behavior variation point, and the feedback rule;
- and
- a controller that controls the motion of the robot arm in accordance with the motion generating section.
6 more elements
A control method for controlling a motion of a robot arm, the control method comprising:
- acquiring, by a motion information acquiring section, motion information including at least one of a position, orientation, and velocity of the robot arm in motion;
- acquiring, by an environment information acquiring section, environment information including at least one of force information, sound volume information, and positional information related to peripheral environment and generated by the robot arm in motion;
- acquiring, by a predetermined reaction time information acquiring section, predetermined reaction time information as information of a predetermined time from receipt of the environment information by a person in manipulation of the robot arm by the person to carrying out the manipulation of the robot arm by the person;
- detecting as an information variation point, by an information variation point detecting section, a time point where at least one of the motion information acquired by the motion information acquiring section and the environment information acquired by the environment information acquiring section varies;
- searching, by a behavior variation point detecting section, in a time from a time point after elapse of the predetermined reaction time from the information variation point, for a time point where a displacement in at least one of the motion information acquired by the motion information acquiring section and the environment information acquired by the environment information acquiring section varies, to detect an initially detected time point as a behavior variation point;
- generating as a feedback rule, by a feedback rule generating section, at least one of the motion information acquired by the motion information acquiring section and the environment information acquired by the environment information acquiring section in a time from the behavior variation point;
- generating, by a motion generating section, a motion of the robot arm based on the motion information, the information variation point, the behavior variation point, and the feedback rule;
- and
- controlling, by a controller, the motion of the robot arm in accordance with the motion of the robot arm generated by the motion generating section.
6 more elements
A control program for controlling a motion of a robot arm, the control program for causing a computer to execute steps of:
- acquiring, by a motion information acquiring section, motion information including at least one of a position, orientation, and velocity of the robot arm in motion;
- acquiring, by an environment information acquiring section, environment information including at least one of force information, sound volume information, and positional information related to peripheral environment and generated by the robot arm in motion;
- acquiring, by a predetermined reaction time information acquiring section, predetermined reaction time information as information of a predetermined time from receipt of the environment information by a person in manipulation of the robot arm by the person to carrying out the manipulation of the robot arm by the person;
- detecting as an information variation point, by an information variation point detecting section, a time point where at least one of the motion information acquired by the motion information acquiring section and the environment information acquired by the environment information acquiring section varies;
- searching, by a behavior variation point detecting section, in a time from a time point after elapse of the predetermined reaction time from the information variation point, for a time point where at least one of the motion information acquired by the motion information acquiring section and the environment information acquired by the environment information acquiring section varies, to detect an initially detected time point as a behavior variation point;
- generating as a feedback rule, by a feedback rule generating section, at least one of the motion information acquired by the motion information acquiring section and the environment information acquired by the environment information acquiring section in a time from the behavior variation point;
- generating, by a motion generating section, a motion of the robot arm based on the motion information, the information variation point, the behavior variation point, and the feedback rule;
- and
- controlling, by a controller, the motion of the robot arm in accordance with the motion of the robot arm generated by the motion generating section.
6 more elements
An integrated electronic circuit for controlling a motion of a robot arm, the integrated electronic circuit for performing:
- acquiring, by a motion information acquiring section, motion information including at least one of a position, orientation, and velocity of the robot arm in motion;
- acquiring, by an environment information acquiring section, environment information including at least one of force information, sound volume information, and positional information related to peripheral environment and generated by the robot arm in motion;
- acquiring, by a predetermined reaction time information acquiring section, predetermined reaction time information as information of a predetermined time from receipt of the environment information by a person in manipulation of the robot arm by the person to carrying out the manipulation of the robot arm by the person;
- detecting as an information variation point, by an information variation point detecting section, a time point where at least one of the motion information acquired by the motion information acquiring section and the environment information acquired by the environment information acquiring section varies;
- searching, by a behavior variation point detecting section, in a time from a time point after elapse of the predetermined reaction time from the information variation point, for a time point where a displacement in at least one of the motion information acquired by the motion information acquiring section and the environment information acquired by the environment information acquiring section varies, to detect an initially detected time point as a behavior variation point;
- generating as a feedback rule, by a feedback rule generating section, at least one of the motion information acquired by the motion information acquiring section and the environment information acquired by the environment information acquiring section in a time from the behavior variation point;
- generating, by a motion generating section, a motion of the robot arm based on the motion information, the information variation point, the behavior variation point, and the feedback rule;
- and
- controlling, by a controller, the motion of the robot arm in accordance with the motion of the robot arm generated by the motion generating section.
6 more elements
Dependencies are inferred from the claim text.