Title:
CONTROL DEVICE, ROBOT SYSTEM, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/058653
Kind Code:
A1
Abstract:
A control device 3 comprises: a force control unit 36 that executes force control to apply an action to an object W by operating a robot 1 in accordance with an operating force applied to an operation device 2 from an operator U, and to operate the operation device 2 in accordance with a reaction force that the robot 1 receives from the object W; an estimation unit 37 that estimates a dynamic characteristic of the operator U; and an adjustment unit 310 that adjusts a control parameter of the force control in accordance with the estimated dynamic characteristic of the operator so that a frequency characteristic of the force control matches a target frequency characteristic.
Inventors:
WATANABE MASAYUKI
SAKUMA TOMOKI
KINOSHITA HIROKI
TAKAHASHI HIROKI
SHIMIZU KAI
TANAKA HIROKI
SAKUMA TOMOKI
KINOSHITA HIROKI
TAKAHASHI HIROKI
SHIMIZU KAI
TANAKA HIROKI
Application Number:
PCT/JP2022/037135
Publication Date:
April 13, 2023
Filing Date:
October 04, 2022
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J3/00
Domestic Patent References:
| WO2008108289A1 | 2008-09-12 | |||
| WO2018012110A1 | 2018-01-18 | |||
| WO2019150866A1 | 2019-08-08 | |||
| WO2019163359A1 | 2019-08-29 |
Foreign References:
| JP2021049642A | 2021-04-01 | |||
| US5266875A | 1993-11-30 | |||
| US20190358817A1 | 2019-11-28 | |||
| JPH03162289B1 |
Attorney, Agent or Firm:
TERAZONO Kenichi et al. (JP)
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