Title:
ROBOT SYSTEM, ROBOT OPTIMIZATION SYSTEM, AND ROBOT OPERATION PLAN LEARNING METHOD
Document Type and Number:
WIPO Patent Application WO/2017/134735
Kind Code:
A1
Abstract:
Disclosed is a robot operation plan learning method which comprises: a trajectory generation process for generating one or more candidates for the trajectory to be tracked by a robot so that the robot is brought into a predetermined target position from a start position; a trajectory characteristic extraction process for extracting an operational characteristic, serving as a trajectory candidate property, from each of the trajectory candidates; a trajectory cost calculation process for calculating trajectory costs, which serve as an index of the appropriateness of the candidate trajectory from operational characteristics, on the basis of a trajectory selection reference for calculating the appropriateness of the trajectory candidate from the operational characteristic; a trajectory calculation process for determining a trajectory candidate to be adopted as the operation trajectory of the robot using the trajectory cost; a demonstration process for operating the robot on the basis of the robot operation trajectory determined by the trajectory calculation process, and/or a simulation process for performing a simulation of the operation of the robot on the basis of the robot operation trajectory; and a learning process for receiving an evaluation, by ordinal scale, performed on the demonstration process and/or the simulation process, and changing the trajectory selection reference on the basis of the evaluation input.
Inventors:
KOREEDA YUTA (JP)
FUJIMOTO KEISUKE (JP)
ITO KIYOTO (JP)
KIMURA NOBUTAKA (JP)
FUJIMOTO KEISUKE (JP)
ITO KIYOTO (JP)
KIMURA NOBUTAKA (JP)
Application Number:
PCT/JP2016/052979
Publication Date:
August 10, 2017
Filing Date:
February 02, 2016
Export Citation:
Assignee:
HITACHI LTD (JP)
International Classes:
B25J9/22; G05B13/02
Foreign References:
| JP2013193194A | 2013-09-30 | |||
| JP2002269530A | 2002-09-20 | |||
| JPH0561844A | 1993-03-12 | |||
| JPH11175132A | 1999-07-02 | |||
| JPH04112302A | 1992-04-14 |
Attorney, Agent or Firm:
SEIRYO I.P.C. (JP)
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