Robot control method and robot

Abstract

The invention provides a method for controlling a robot device; when controlling the manipulator of the robot device, a plurality of benchmark images are not necessary to be prepared, computation process is much easier, the control can be carried out rapidly, and the position and gesture of objects corresponding to the manipulator can be controlled in the three-dimensional space. On the basis of an image characteristic quantity which is gained by processing the image of the object (101) obtained by a camera (6), a relational expression (namely a jacobian matrix) between the change speed of the image characteristic quantity and the action speed of all joints (2a, 2b, 2c, 2d, 2e and 2f) of the manipulator (1) is determined by iterative least square method; furthermore, after the jacobian matrix is compared with the image characteristic quantity of the object (101) gained at the target position in advance, the action speeds of all joints are worked out by the way that the finger position (5) of the manipulator (1) approaches to the target position and are used as command signals of the manipulator (1); furthermore, the manipulator (1) acts on the basis of the command signals.

Description

technical field [0001] The present invention relates to a robot device equipped with a camera at the tip of the robot arm so that the target feature value calculated and stored in advance from the target state matches the feature value obtained from the image obtained by the camera, and the robot device operates the robot device. Control method and robot control device. Background technique [0002] Conventionally, a robot device including a robot arm has been proposed, and a robot device control method for controlling the operation of the robot arm of such a robot device has been proposed. Furthermore, as a control method of the robot apparatus, various control methods have been proposed for moving the hand of the manipulator targeting an object to be gripped by the manipulator. [0003] For example, in Patent Document 1 (Japanese Unexamined Patent Publication No. 2003-231078 ), a robot device is described that prepares in advance reference images of a plurality of objects...

AI Technical Summary

Problems solved by technology

[0006] However, the robot device described in Patent Document 1 needs to prepare a large number of reference images in order to improve the control accuracy. Every time the manipulator moves, it needs to search all the reference images, so the calculation load is heavy, and rapid control cannot be performed.

[0007] In addition, the robot device described in Patent Document 2 cannot control the position and posture of the manipulator to the object in three-dimensional space because it can only cope with the position and posture of the manipulator in the two-dimensional plane.

In addition, in such a robot device, it is impossible to perform rapid control because it is necessary to repeatedly perform imaging, measurement, and manipulator movements.

In addition, in this kind of robot device, it is necessary to perform camera calibration work such as camera lens alignment or alignment of the coordinate system, and errors caused by the error in the length of the manipulator link or the misalignment of the coordinate system will accumulate. There is a danger of deteriorating motion accuracy

[0008] Furthermore, the robot device described in Patent Document 3 uses Freund's method to solve the analytical expression of the Jacobian matrix in order to estimate the Jacobian matrix. However, since it only solves nonlinear equations, there is a problem that it is weak against modeling errors.

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