| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a device for predicting and controlling motion capable of predicting relative motion between a target (workpiece or landmark) and a robot based on measurement results (position and posture, for example) of the relative relation between the target and the robot, calculating a control instruction value with a control cycle determined per robot without influence of the calculation amount of state estimation and a time required for data communication, and controlling the robot. <P>SOLUTION: (A) The relative relation among the workpiece or the landmark and the robot is measured by a measuring device 12, a state estimating device 14 and a data storage device 16 at arbitrary timing independent of the control cycle of the robot 2 to predict internal states of the workpiece, the landmark and the robot update them to a predicted internal state and a state transition equation used in the prediction, and store them. (B) A prediction value necessary for the control of the robot is calculated by the robot control device 20 with a control cycle of the robot 2 based on the most recent internal states stored in the data storage device 16 to control the robot 2 in real time. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
