US 12,343,873 B2
Control device, control system, robot system, and control method
Shingo Yonemoto, Kobe (JP); Takanori Kozuki, Kobe (JP); Masahiko Akamatsu, Kobe (JP); Hitoshi Hasunuma, Kobe (JP); and Masayuki Kamon, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/776,602
Filed by Kawasaki Jukogyo Kabushiki Kaisha, Kobe (JP)
PCT Filed Nov. 16, 2020, PCT No. PCT/JP2020/042651
§ 371(c)(1), (2) Date May 13, 2022,
PCT Pub. No. WO2021/095886, PCT Pub. Date May 20, 2021.
Claims priority of application No. 2019-207333 (JP), filed on Nov. 15, 2019.
Prior Publication US 2022/0388160 A1, Dec. 8, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/161 (2013.01); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B25J 11/0065 (2013.01); B25J 13/085 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A control device for a robot that performs grinding work by using a grinder, the control device comprising:
autonomous command generation circuitry that generates an autonomous operation command for causing the robot to autonomously grind a grinding target portion;
manual command generation circuitry that generates a manual operation command for causing the robot to grind a grinding target portion according to manipulation information outputted from an user interface for operating the robot;
operation control circuitry that controls operation of the grinding work of the robot according to the operation command;
storage that stores image data of a grinding target portion and operation data of the robot corresponding to the operation command generated for the grinding target portion in a state of the image data; and
learning circuitry that performs machine learning by using image information that is information regarding image data of a grinding target portion and the operation data of the robot for the grinding target portion in a state of the image information, receives the image information of a grinding target portion as input data, and outputs an operation correspondence command corresponding to the operation data of the robot for the grinding target portion in a state of the image information as output data, wherein;
the operation correspondence command is a command including:
a force command that commands magnitude and a direction of force that is applied to a grinding target portion from the grinder by the robot, and
a position command that commands a three-dimensional position and three-dimensional posture of the grinder which are realized by the robot, and
the autonomous command generation circuitry generates the autonomous operation command, based on the operation correspondence command of the learning circuitry.