US 12,030,186 B2
Control device, control method, and non-transitory computer readable storage medium
Yoshinao Sodeyama, Tokyo (JP); Kazuo Hongo, Tokyo (JP); Kazuhito Wakana, Tokyo (JP); and Yoshikazu Furiyama, Tokyo (JP)
Assigned to SONY CORPORATION, Tokyo (JP)
Appl. No. 17/281,506
Filed by SONY CORPORATION, Tokyo (JP)
PCT Filed Sep. 2, 2019, PCT No. PCT/JP2019/034382
§ 371(c)(1), (2) Date Mar. 30, 2021,
PCT Pub. No. WO2020/075419, PCT Pub. Date Apr. 16, 2020.
Claims priority of application No. 2018-192875 (JP), filed on Oct. 11, 2018.
Prior Publication US 2022/0040858 A1, Feb. 10, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 9/04 (2006.01); B25J 11/00 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/04 (2013.01); B25J 9/1638 (2013.01); B25J 9/1653 (2013.01); B25J 9/1674 (2013.01); B25J 9/1679 (2013.01); B25J 11/0045 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A control method, comprising:
physically limiting a motion of a first link of at least two links of a plurality of links of a robot, wherein a stopper is in a first joint portion, of plurality of joint portions, which joins the at least two links of the plurality of links;
determining a first moveable range of the first link based on a risk associated with use of an instrument for a task by the robot, wherein the instrument used for the task is different from the robot; and
controlling the stopper corresponding to the first joint portion, to move the first link within the determined first movable range.