Robot control methods and apparatus

• US 5,870,527 A
• Filed: 10/16/1996
• Issued: 02/09/1999
• Est. Priority Date: 10/17/1995
• Status: Expired due to Fees

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Fujikawa, Takayuki, Fujita, Masahiro
• Primary Examiner(s): Hafiz, Tario R.
• Assistant Examiner(s): Patel, Jagdish
• Application Number:
  US08/730,934
• Time in Patent Office: 846 Days
• Field of Search: 395/85, 395/670, 395/672, 395/673, 395/674
• US Class Current: 700/245
• 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 2219/40432 Pass states by weighted transitions
• CPC Class Codes: G05B 2219/40518 Motion and task planning

Abstract

A robot control method for controlling the operation of a robot so as to pass through a plurality of states corresponding to a predetermined operation, comprising determining at least one operational arc between two directly passable states among the plurality of states showing the operation of the robot when passing between the two states, giving to each of the determined operational arcs a weighting coefficient corresponding to the probability of that operational arc being selected, selecting on a probable basis one of the operational arcs between the two states when making the operation of the robot pass between the two states based on the weighting coefficients of the operational arcs between the two states, and controlling the robot so as to perform the operation shown by the selected operational arc when making the operation of the robot pass between the two states.

Claims

1. A robot control method for controlling the operation of a robot so as to pass through a plurality of states corresponding to a predetermined operation, comprising:

determining at least one operational arc between two directly passable states among the plurality of states showing the operation of said robot when passing between the two states,

giving to each of the determined operational arcs a weighting coefficient corresponding to the probability of that operational arc being selected,

selecting on a probable basis one of said operational arcs between said two states when making the operation of the robot pass between said two states based on said weighting coefficients of the operational arcs between said two states, and

controlling the robot so as to perform the operation shown by the selected operational arc when making the operation of the robot pass between said two states; and

controlling the robot so as to return to a first of said two states, wherein said operational arc includes a self operational arc showing the operation of said robot when returning to the first state.

2. A robot control method as set forth in claim 1, when making the operation of the robot pass between two or more states among the plurality of states, operational arcs are selected between each two directly passable states among said two or more states so that the sum of the weighting coefficients becomes smallest.

3. A robot control method as set forth in claim 1, wherein said operational arc includes a self operational arc showing the operation of said robot when returning from one state among the plurality of states to the same one state.

4. A robot control apparatus for controlling the operation of a robot having a plurality of states corresponding to a predetermined operation,

at least one operational arc being determined between each of any two directly passable states among said plurality of states showing the operation of the robot when passing between said two states, comprising

a weighting means for giving to each of the determined arcs of operation a weighting coefficient corresponding to the probability of that operational arc being selected,

an operational arc selecting means for selecting based on probability one of said operational arcs between said two states when making the operation of the robot pass between said two states based on said weighting coefficients of the operational arcs between said two states,

an operating data producing means for producing along with time operating data corresponding to the operation of said robot shown by said selected operational arc, and

controlling means for controlling the operation of the robot based on said produced operating data, wherein

said operating data producing means suppresses the production of said operating data corresponding to said self operational arc before said transition in state and after said transition in state when the states of the robot before the transition of state and after the transition of state coincide.

5. A robot control apparatus as set forth in claim 4, wherein

said operational arc includes a self operational arc showing the operation of said robot when returning from one state among the plurality of states to said same one state.