CONTROL DEVICE AND CONTROL METHOD OF ROBOT ARM, ROBOT, CONTROL PROGRAM, AND INTEGRATED ELECTRONIC CIRCUIT

• US 20130310977A1
• Filed: 07/26/2013
• Published: 11/21/2013
• Est. Priority Date: 09/06/2011
• Status: Active Grant

• Current Assignee: Panasonic Intellectual Property Management Co., Ltd. (Panasonic Holdings Corporation)
• Original Assignee: Panasonic Corporation (Panasonic Holdings Corporation)
• Inventors: TSUSAKA, Yuko, FUDABA, Yudai
• Granted Patent: US 9,114,530 B2
• Time in Patent Office: Days
• US Class Current: 700/257
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1656 characterised by programming, planning systems for manipulators
• CPC Class Codes: G05B 19/423 Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
• CPC Class Codes: G05B 2219/36442 Automatically teaching, teach by showing
• CPC Class Codes: G05B 2219/40391 Human to robot skill transfer

Abstract

A robot arm system for controlling a motion of a robot arm includes an order determining section for determining an order of teaching information based on at least one or more pieces of perceptual information about circumference environment of the robot arm used by a person to operate the robot arm and change the motion of the robot arm that is sensed by the person, reaction time information as time information from a time when the person receives the perceptual information to a time when the person operates robot arm, and dispersion information about a dispersion level between at least one or more pieces of the teaching information or the perceptual information, and creates motion information about the robot arm based on the teaching information and the order determined by the order determining section.

Claims

1. A control device of a robot arm for controlling a motion of the robot arm, comprising:

a first information obtaining section that obtains a plurality of pieces of time-series teaching information at a time when a person operates the robot arm and teaches a motion;

a second information obtaining section that obtains (i) reaction time information and (ii) dispersion information at the time of teaching the robot arm;

an order determining section that determines an order of the plurality of pieces of teaching information obtained by the first information obtaining section based on the reaction time information and the dispersion information obtained by the second information obtaining section; and

a motion creating section that creates motion information as information about the motion of the robot arm based on the plurality of pieces of teaching information and the order,

wherein the time-series teaching information includes at least one or more of a position, an orientation, and a speed of the robot arm,

the reaction time information is time information from a time when the person receives perceptual information to a time when the person operates the robot arm, the perceptual information being at least one of information about a force applied from the robot arm to a target object for a task by the robot arm, information about a position of the target object for the task by the robot arm, and sound information of a circumference environment,

the dispersion information is information about a dispersion level in chronological order between at least one or more pieces of the teaching information in chronological order and the perceptual information in chronological order, and

the motion of the robot arm is controlled based on the motion information created by the motion creating section.

2. The control device of the robot arm according to claim 1, wherein the perceptual information is obtained by the second information obtaining section,

the dispersion level is levels of fluctuations in chronological order in respective directions as to the teaching information about the position or the orientation of the robot arm, or the perceptual information about the force information, or the position information about the object, or the sound information obtained by the second information obtaining section.

3. The control device of the robot arm according to claim 1, wherein the perceptual information is obtained by the second information obtaining section,

the control device further comprising:

a dispersion level calculating section that calculates dispersion levels in chronological order as information about the dispersion levels between the teaching information obtained by the first information obtaining section and the perceptual information obtained by the second information obtaining section,

wherein the dispersion levels calculated by the dispersion level calculating section is obtained as the dispersion information by the second information obtaining section.

4. The control device of the robot arm according to claim 1, wherein the perceptual information is obtained by the second information obtaining section,

the control device further comprising:

a perceptual information presenting section that presents only information minimum needed to complete the operation in the information obtained by the second information obtaining section as a force, a position of the object or a sound volume at a time when the person operates the robot arm,

wherein the perceptual information in the information obtained by the second information obtaining section is information whose type is same as the perceptual information presented by the perceptual information presenting section.

5. The control device of the robot arm according to claim 1, wherein the perceptual information is obtained by the second information obtaining section,

the order determining section determines teaching information using less pieces of the perceptual information in the plurality of pieces of teaching information as information with higher priority.

6. The control device of the robot arm according to claim 1, wherein the order determining section determines teaching information based on the information about a shorter reaction time in the plurality of pieces of teaching information as information with higher priority.

7. The control device of the robot arm according to claim 1, wherein the perceptual information is obtained by the second information obtaining section,

the control device further comprising:

a reaction time calculating section that adds the reaction times for each perceptual information and calculates total reaction time information,

wherein the order determining section determines the teaching information where the total reaction time information calculated by the reaction time calculating section in the plurality of pieces of teaching information is larger as information with higher priority.

8. The control device of the robot arm according to claim 1, wherein the order determining section determines teaching information where the dispersion level is smaller in the plurality of pieces of teaching information as information with higher priority.

9. The control device of the robot arm according to claim 1, further comprising:

a determining section that determines whether the robot arm normally moves based on the motion information created by the motion creating section,

wherein when the determining section determines that the normal motion is not made based on the motion information, the motion creating section creates motion information as the information about the motion of the robot arm based on teaching information different from the teaching information.

10. The control device of the robot arm according to claim 9, wherein the motion creating section creates motion information as information about the motion of the robot arm based on the teaching information with highest priority in the plurality of pieces of teaching information,

when the determining section determines that the motion is not normally made based on the motion information, the motion creating section creates motion information as the information about the motion of the robot arm based on teaching information with second highest priority.

11. The control device of the robot arm according to claim 9, wherein the motion creating section determines motion information that should be corrected based on the order,

the control device further comprising:

a control law extracting section that extracts control law information as information for controlling the motion based on the motion information; and

an order rearranging section that, when the determining section determines that the motion is not normally made based on the motion information, rearranges the control law into a control law of second highest priority,

wherein the motion creating section corrects the motion information according to the control law rearranged by the order rearranging section and creates the motion information.

12. The control device of the robot arm according to claim 9, wherein the order determining section respectively weights the reaction time information and the dispersion information, and determines the order of the plurality of pieces of teaching information.

13. The control device of the robot arm according to claim 1, further comprising:

a section desired value setting section that sets a plurality of section desired values as end time points of a plurality of sections obtained by dividing the motion information,

wherein the order determining section determines the order of the teaching information at the sections of up to the section desired values set by the section desired value setting section,

the motion creating section creates the motion information at the respective sections based on the teaching information with highest priority.

14. A robot, comprising:

the robot arm; and

the control device of the robot arm that controls the robot arm, according to claim 1.

15. A control method of a robot arm for controlling a motion of the robot arm, comprising:

obtaining a plurality of pieces of time-series teaching information at a time when a person operates the robot arm and teaches a motion, by a first information obtaining section;

obtaining (i) reaction time information and (ii) dispersion information at the time of teaching the robot arm, by a second information obtaining section;

determining an order of the plurality of pieces of teaching information obtained by the first information obtaining section based on the reaction time information and the dispersion information obtained by the second information obtaining section, by an order determining section, the time-series teaching information including at least one or more of a position, an orientation, and a speed of the robot arm, the reaction time information being time information from a time when the person receives perceptual information to a time when the person operates the robot arm, the perceptual information being at least one of information about a force applied from the robot arm to a target object for a task done by the robot arm, information about a position of the target object for the task done by the robot arm, and sound information of a circumference environment, the dispersion information being information about dispersion levels in chronological order between at least one or more pieces of the teaching information in chronological order or the perceptual information in chronological order;

creating motion information as information about the motion of the robot arm based on the plurality of pieces of teaching information and the order, by a motion creating section; and

controlling the motion of the robot arm based on the motion information created by the motion creating section.

16. A computer-readable recording medium including a control program of a robot arm for controlling a motion of the robot arm, the program allowing a computer to execute:

a step of obtaining a plurality of pieces of time-series teaching information at a time when a person operates the robot arm and teaches a motion, by a first information obtaining section;

a step of obtaining (i) reaction time information and (ii) dispersion information at the time of teaching the robot arm, by a second information obtaining section;

a step of determining an order of the plurality of pieces of teaching information obtained by the first information obtaining section based on the reaction time information and the dispersion information obtained by the second information obtaining section, by an order determining section, the time-series teaching information including at least one or more of a position, an orientation, and a speed of the robot arm, the reaction time information being time information from a time when the person receives perceptual information to a time when the person operates the robot arm, the perceptual information being at least one of information about a force applied from the robot arm to a target object for a task by the robot arm, information about a position of the target object for the task by the robot arm, and sound information of a circumference environment, the dispersion information being information about dispersion levels in chronological order between at least one or more pieces of the teaching information in chronological order or the perceptual information in chronological order;

a step of creating motion information as information about the motion of the robot arm based on the plurality of pieces of teaching information and the order, by a motion creating section; and

a step of controlling the motion of the robot arm based on the motion information created by the motion creating section.

17. An integrated electronic circuit of a robot arm for controlling a motion of the robot arm, comprising:

a first information obtaining section that obtains a plurality of pieces of time-series teaching information at a time when a person operates the robot arm and teaches a motion;

a second information obtaining section that obtains (i) reaction time information and (ii) dispersion information at the time of teaching the robot arm;

an order determining section that determines an order of the plurality of pieces of teaching information obtained by the first information obtaining section based on the reaction time information and the dispersion information obtained by the second information obtaining section; and

a motion creating section that creates motion information as information about the motion of the robot arm based on the plurality of pieces of teaching information and the order,

wherein the time-series teaching information includes at least one or more of a position, an orientation, and a speed of the robot arm,

the reaction time information is time information from a time when the person receives perceptual information to a time when the person operates the robot arm,

the perceptual information is at least one piece of information about a force applied from the robot arm to a target object for a task done by the robot arm, information about a position of the target object for the task done by the robot arm, and sound information of a circumference environment,

the dispersion information is information about dispersion levels in chronological order between at least one or more pieces of the teaching information in chronological order or the perceptual information in chronological order, and

the motion of the robot arm is controlled based on the motion information created by the motion creating section.