公开(公告)号：EP2708334A4

公开(公告)日：2015-07-01

申请号：EP12782445

申请日：2012-04-24

申请人： IHI CORP

发明人： EMOTO SHUHEI ,  HAYASHI TOSHIHIRO ,  BANNO HAJIME ,  FUJII MASAKAZU ,  SONEHARA MITSUHARU

IPC分类号： B25J13/00 ,  B25J9/16 ,  B25J13/08

CPC分类号： B25J13/08 ,  B25J5/007 ,  B25J9/1664 ,  B25J9/1697 ,  B25J19/023 ,  G05B2219/32357 ,  G05B2219/37436 ,  G05B2219/40512 ,  G05B2219/41146 ,  G05B2219/42263 ,  Y02P90/26

摘要： (A) One or both of an object and a robot (2) are measured by measuring units (12a and 12b) to acquire sensor information. (B) The internal state of one or both of the object and the robot (2) is predicted and updated by a state estimation unit (14) on the basis of the sensor information. (C) The internal state is stored by a data storage unit (16). (D) The robot (2) is controlled by a robot control unit (20). At (B), the internal state is updated by the state estimation unit (14) at an arbitrary timing that is independent of the control cycle of the robot. At (D), a prediction value necessary for controlling the robot is calculated by the robot control unit at a control cycle on the basis of the latest internal state stored in the data storage unit (16).