Omron Corporation

Tatsuya Koga

Jun Sasaki

Yoshinori Konishi

Ryota Yamada

Masahiro Murai

Ryuichiro Nakanishi

Yasutaka Okada

Provided is art capable of recognizing the states of a plurality of target objects arranged in a prescribed space region. This target object recognition device is provided with: a plurality of calculation processing units () which each calculate the attitude state of a target object in a prescribed space region using a different technique; a state recognition unit () which recognizes the layout state of all of a plurality of target objects arranged in the space region; a method determination unit () which, in accordance with the result of the recognition by the state recognition unit (), determines a method for using the results of the calculation performed by the calculation processing units (); and a target object recognition unit () which recognizes the attitude states of the target objects by means of the determined method for using the results of the calculation.

Target object recognition device, manipulator, and mobile robot

A control apparatus and the like may include a time allocation setting unit that sets a time allocation for steps in the total driving time, and an operation value calculation unit that calculates minimum operation values for the times set by the time allocation setting unit, and the time allocation setting unit sets the time allocation of the steps in the total driving time such that the difference between the minimum operation values of the steps falls within a predetermined range.

Control apparatus, control method for control apparatus, control program, and storage medium

The velocity and force of a target is controlled to have a predetermined relationship, independently of changes in the velocity at which the target is driven using a velocity command value and in an external force from the target. A controller controls a control target, driven to generate a predetermined viscous force as a reaction force, by periodically outputting a command value to the control target using a target value calculated from a command pattern for driving the control target and a feedback value from the control target relative to the target value. A correction operation unit obtains a control physical quantity different from the command value, calculates a correction command value based on a relationship between an error of the obtained control physical quantity from its target value and an error of the feedback value from the target value, and outputs the correction command value to the control target.

Controller for performing hybrid control using velocity and force

The invention provides a control device comprising: an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source and the velocity actual value represents a velocity of the motion body; an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system; and an output part, evaluating a reliability of the external force inferred value based on the velocity inferred value calculated together if the inferring part calculates the external inferred value, and effectively outputting the external force inferred value when it is judged that there is a designated reliability.

Growing community of inventors

Souraku-gun, Japan

Tatsuya Koga