| CPC B25J 9/1612 (2013.01) [B25J 9/163 (2013.01); B25J 9/1664 (2013.01)] | 12 Claims |
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1. A computer for controlling a robot that performs work including gripping an object and moving the object, the computer comprising:
an arithmetic device;
a storage device connected to the arithmetic device; and
an interface connected to the arithmetic device, wherein
the storage device stores trajectory information on a trajectory of the robot when the object is gripped and moved during the work of the robot, and
the arithmetic device is configured to
acquire operating state information including a value indicating an operating state of the robot during the work and work state information including a value for grasping a state of the object gripped by the robot,
generate estimated work state information including a value for grasping a future state of the object gripped by the robot based on the trajectory information, the operating state information, and the work state information, and
generate control information for controlling the robot based on the trajectory information, the operating state information, the work state information, and the estimated work state information,
the work state information includes a measurement value acquired from a measurement device that is installed in the robot and measures a value for grasping the state of the object gripped by the robot, and
the arithmetic device is configured to
calculate a frequency to be removed corresponding to a shape of the trajectory based on the trajectory information, and
remove noise from the measurement value included in the work state information based on the frequency to be removed.
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