Ihi Corporation

Ihi Aerospace Co., Ltd.

Mitsuharu Sonehara

Toshihiro Hayashi

Shuhei Emoto

Shinya Morita

Koichiro Hayashi

Hajime Banno

Aritsune Kawabe

Masakazu Fujii

Kozue Hashimoto

Yukihito Kitazawa

Masaru Uji

Katsuaki Nomura

Ayumi Nakanishi

An end effector includes a pair of machining tools. The pair of machining tools is separated by an interval in one direction perpendicular to a tool rotational axis and rotatable around the tool rotational axis. The pair of machining tools is position-controlled, and is force-controlled in a machining direction perpendicular to the one direction and an axial direction of the tool rotational axis, and is torque-controlled around the tool rotational axis.

Force control robot and method for controlling same

A 3D-object recognition device includes: a matching unit to compare a 3D-object in an image based on the image data with a 3D-shape model corresponding to the 3D-object to associate correlated feature points with each other by pattern matching; a model updating unit to update the 3D-shape model based on the feature points associated by the matching unit; a motion estimation unit to estimate motion of the 3D-object based on a history of the position and attitude of the 3D-shape model updated by the model updating unit to estimate a 3D-shape model at an arbitrary time in the future; and a validity determination unit to compare the feature points associated by the matching unit with the 3D-shape model estimated by the motion estimation unit and cause the model updating unit to update the 3D-shape model based on only the feature points determined to be valid.

Three-dimensional object recognition device and three-dimensional object recognition method

Provided are a space debris removing device and a method which enable easy installation of a deceleration device to space debris undergoing a tumbling motion. The space debris removing device includes: a propulsion device () for performing approach and attitude control on target debris (); a capture device () having a harpoon () which can be ejected toward the target debris (); an observation device () for calculating a capture position (E) and a capture attitude at which the harpoon () can be driven into a tank () (hollow portion) of the target debris () by observing a motion of the target debris (); a deceleration device () directly or indirectly connected to the harpoon (), for decelerating the target debris (); and a body part () on which the propulsion device (), the capture device (), the observation device (), and the deceleration device () are mounted.

Space debris removing device and space debris removing method

(A) One or both of an object and a robot are measured by measuring units to acquire sensor information. (B) The internal state of one or both of the object and the robot is predicted and updated by a state estimation unit on the basis of the sensor information. (C) The internal state is stored by a data storage unit. (D) The robot is controlled by a robot control unit. At (B), the internal state is updated by the state estimation unit 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.

Motion prediction control device and method

Growing community of inventors

Tokyo, Japan

Mitsuharu Sonehara