ROBOT CONTROL DEVICE

专利名称：ROBOT CONTROL DEVICE

发明人：KOMURO SATOSHI,小室 聡,NARAMURA

ITOSHI,奈良村 五十志

申请号：JP20170459申请日：20170329公开号：JP2018167330A公开日：20181101

专利附图：

摘要：To provide a device controlling a robot so as to be able to improve stability ofoperation causing changes in position/posture of a base body by improving recognitionaccuracy of a position and a posture of a functional body such as a hand with respect to

an object.SOLUTION: When deviation Δφ with respect to reference angle φof an angle φmade by two reference vectors Uand Ushowing an extension mode of a structure W ineach of a camera coordinate system and a hand coordinate system is beyond threshold ε,it is highly probable that an interactive state between a hand 13 (a functional body) andthe structure W diverges from a target state. In such a case, a posture of a hand

coordinate system in a world coordinate system estimated from a detection result of theinteractive state between the hand 13 and the structure W is corrected so that thedeviation Δφ becomes equal to threshold ε or less. Thus, on the basis of a wrongrecognition result that the interactive state between the hand 13 and the structure Wmatches the target state, the situation that operation of a robot 1 is generated in theway that a relative position/posture of the base body coordinate system with respect tothe hand coordinate system changes can be avoided.SELECTED DRAWING: Figure 5

申请人：HONDA MOTOR CO LTD,本田技研工業株式会社

地址：東京都港区南青山二丁目１番１号

国籍：JP

代理人：特許業務法人創成国際特許事務所

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