ROBOT ARM CONTROL DEVICE AND CONTROL METHOD, ROBOT, AND CONTROL PROGRAM
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Abstract
There is provided a control device for a robot arm which includes an operation procedure information acquisition means for acquiring information on the procedure of a domestic operation, a progress management means for managing information on the progress of the operation, and a control parameter setting means for setting a control parameter for the robot arm based on the operation procedure information and the progress information, whereby the control device controls an operation of the robot arm based on the control parameter from the control parameter setting means.
41 Citations
30 Claims
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1-18. -18. (canceled)
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19. A robot arm control device, comprising:
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an operation procedure information acquisition means for acquiring information on a procedure of a domestic operation including a plurality of processes in which a person and a robot arm cooperate with each other, the domestic operation procedure information including operation information for identifying whether each of the processes is (i) an operation process performed by only the robot arm or (ii) an operation process performed by the person and the robot arm in cooperation with each other; a progress management means for managing information on progress of the domestic operation performed by the person and the robot arm in cooperation with each other, based on the domestic operation procedure information which has been acquired by the operation procedure information acquisition means; a control parameter setting means for setting a control parameter for the robot arm, based on the domestic operation progress information from the progress management means, in such a way as to (i) control the robot arm in a position control mode in a case of the operation process performed by only the robot arm, and to (ii) control the robot arm in a control mode for causing the robot arm to move according to force of the person in a case of the operation process performed by the person and the robot arm in cooperation with each other; and a control means for controlling an operation of the robot arm based on the control parameter set by the control parameter setting means. - View Dependent Claims (20, 21, 22, 23, 24, 25, 27, 30)
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26. A method for controlling a robot arm, comprising:
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acquiring information on a procedure of a domestic operation including a plurality of processes in which a person and the robot arm cooperate with each other, by an operation procedure information acquisition means, the domestic operation procedure information including operation information for identifying whether each of the processes is (i) an operation process performed by only the robot arm or (ii) an operation process performed by the person and the robot arm in cooperation with each other, and managing information on progress of the domestic operation performed by the person and the robot arm in cooperation with each other, by a progress management means, based on the domestic operation procedure information acquired by the operation procedure information acquisition means; setting a control parameter for the robot arm, based on the domestic operation progress information from the progress management means, by a control parameter setting means, in such a way as to (i) control the robot arm in a position control mode in a case of the operation process performed by only the robot arm and to (ii) control the robot arm in a control mode for causing the robot arm to move according to force of the person in a case of the operation process performed by the person and the robot arm in cooperation with each other; and controlling an operation of the robot arm based on the control parameter set by a control means.
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28. A program for controlling a robot arm, which program is executable by a computer, comprising steps of:
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acquiring information on a procedure of a domestic operation including a plurality of processes in which a person and the robot arm cooperate with each other, the domestic operation procedure information including operation information for identifying whether each of the processes is (i) an operation process performed by only the robot arm or (ii) an operation process performed by the person and the robot arm in cooperation with each other; managing information on progress of the domestic operation performed by the person and the robot arm in cooperation with each other, based on the acquired domestic operation procedure information; setting a control parameter for the robot arm, based on the domestic operation based on the domestic operation progress information of the progress information managing step, in such a way as to (i) control the robot arm in a position control mode in a case of an operation process performed by only the robot arm and to (ii) control the robot arm in a control mode for causing the robot arm to move according to force of the person in a case of an operation process performed by the person and the robot arm in cooperation with each other; and controlling an operation of the robot arm based on the set control parameter.
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29. An integrated electronic circuit which controls a robot arm, comprising:
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an operation procedure information acquisition means for acquiring information on a procedure of a domestic operation including a plurality of processes in which a person and the robot arm cooperate with each other, the domestic operation procedure information including operation information for identifying whether each of the processes is (i) an operation process performed by only the robot arm or (ii) an operation process performed by the person and the robot arm in cooperation with each other; a progress management means for managing information on progress of the domestic operation performed by the person and the robot arm in cooperation with each other, based on the domestic operation procedure information acquired by the operation procedure information acquisition means; a control parameter setting means for setting a control parameter for the robot arm, based on the domestic operation progress information from the progress management means, in such a way as to (i) control the robot arm in a position control mode in a case of the operation process performed by only the robot arm and to (ii) control the robot arm in a control mode for causing the robot arm to move according to force of the person in a case of the operation process performed by the person and the robot arm in cooperation with each other; and a control means for controlling an operation of the robot arm based on the control parameter set by the control parameter setting means.
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Specification