LEARNING DEVICE, TRAJECTORY GENERATOR AND MANIPULATOR SYSTEM

To provide a learner which can generate a trajectory that can be commonly used for a plurality of work manipulators having different configurations, a trajector generator and a manipulator system.SOLUTION: A learning device performs learning by use of a drove command and a state signal of a manipula...

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Bibliographic Details
Main Authors ODAI MASAKI, KUROSAWA KOICHI, UENO KATSUNOBU, HIRANO KATSUHIKO
Format Patent
LanguageEnglish
Japanese
Published 07.10.2022
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:To provide a learner which can generate a trajectory that can be commonly used for a plurality of work manipulators having different configurations, a trajector generator and a manipulator system.SOLUTION: A learning device performs learning by use of a drove command and a state signal of a manipulator for learning when the manipulator for learning is driven according to the drive command. The learning device comprises: standardization means that standardizes the drive command and the state signal on the basis of specification of the manipulator for learning; and a first learner which learns by use of the standardized drive command and state signal.SELECTED DRAWING: Figure 3 【課題】異なる構成をもつ複数の作業マニピュレータに対して共通して用いることのできる軌道を生成可能な学習器、軌道生成器並びにマニピュレータシステムを提供する。【解決手段】駆動指令に従い学習用マニピュレータを駆動した時の、駆動指令と学習用マニピュレータの状態信号を用いて学習を行う学習装置であって、学習装置は、駆動指令と状態信号を学習用マニピュレータの仕様に基づいて規格化する規格化手段と、規格化された駆動指令と状態信号を用いて学習する第１の学習器を備えることを特徴とする学習装置。【選択図】図３
Bibliography:Application Number: JP20210052825