CONTROL DEVICE, ROBOT SYSTEM, CONTROL METHOD, AND PROGRAM

• Main Authors: HOSOMI NAOKI, TSUKAMOTO NANAMI, ANIRUDH REDDY KONDAPALLY
• Format: Patent
• Language: English; Japanese
• Published: 05.10.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

To provide a control device, a robot system, a control method and a program that are capable of improving the operability of a robot.SOLUTION: A target position setting unit determines a target position of an actor of a robot based on a form of an object located in an operating environment of the robot. A trajectory estimation unit estimates a predicted trajectory of the actor based on motion of the actor up to the present, and estimates a trajectory of the actor from a current position to the target position as an approach trajectory using a predetermined function. A position selection unit selects one target position based on a degree of similarity between the predicted trajectory and each of the approach trajectories.SELECTED DRAWING: Figure 1 【課題】ロボットの操作性を向上することができる制御装置、ロボットシステム、制御方法、およびプログラムを提供する。【解決手段】目標位置設定部はロボットの動作環境に所在する物体の形態に基づいて、前記ロボットの作用器の目標位置を定め、軌道推定部は前記作用器の現在までの動作に基づいて当該作用器の予測軌道を推定し、前記作用器の現在位置から前記目標位置までの軌道を、所定の関数を用いて接近軌道として推定し、位置選択部は前記予測軌道と前記接近軌道ごとの類似度に基づいて、１個の目標位置を選択する。【選択図】図１