US 12,220,821 B2
Robot control device
Koji Shiratsuchi, Tokyo (JP); and Takuya Okahara, Tokyo (JP)
Assigned to MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Appl. No. 18/010,810
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Sep. 14, 2020, PCT No. PCT/JP2020/034761
§ 371(c)(1), (2) Date Dec. 16, 2022,
PCT Pub. No. WO2022/054292, PCT Pub. Date Mar. 17, 2022.
Prior Publication US 2023/0286150 A1, Sep. 14, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/163 (2013.01); G05B 2219/39001 (2013.01); G05B 2219/39298 (2013.01); G05B 2219/40519 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A robot control device comprising:
a reliability computing circuit to which a feature quantity obtained from a sensor signal is inputted, to compute a reliability for the sensor signal based on a temporal change or a spatial change of the feature quantity, the sensor signal indicating a measurement result obtained by an external sensor installed in a main body of a robot or a surrounding environment of the robot;
a correction command value computing circuit to compute a trajectory correction amount for correcting a trajectory of the robot, based on the reliability and correction information that is calculated based on the feature quantity; and
a command value generation circuit to generate a location command value for the robot based on a target trajectory of the robot and the trajectory correction amount, the target trajectory being determined in advance.