Robot work system

Abstract

To provide a robot work system which includes an articulated robot and enables estimation of joint state quantities of the articulated robot under a severe environment such as high radiation.SOLUTION: A work robot system comprises: an articulated robot constituted by continuously coupling a plurality of links via a plurality of joints, respectively; a link measurement device measuring at least one of a position and posture of the link at a distal end of the articulated robot; a drive control device transmitting a joint operation command for controlling drive of the articulated robot; and a joint state estimation device estimating joint states indicating states of the plurality of joints of the articulated robot by using measurement results of the link measurement device, the joint operation command from the drive control device, and estimated values of past joint state quantities.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a robotic working system. [Background technology]

[0002] In order to improve the situation in harsh environments such as disaster sites where human entry is difficult, an operator in a remote location needs to use a remote control device to safely perform tasks such as gripping, cutting, and drilling of a work target. In such harsh environments such as high radiation environments, a robot status sensor equipped with electronic devices is not resistant to high radiation, so other means for grasping the status of robots, etc. are required. For example, the technology described in Patent Document 1 is known as a conventional technology for grasping the status of robots, etc., using a radiation-resistant image sensor.

[0003] Patent Document 1 discloses a robot control device for controlling the position and orientation of a hand of a robot having at least one joint, which includes a first coordinate conversion unit that receives target values ​​of the position and orientation of the hand in global coordinates and converts them into conversion target values ​​that are target values ​​of the position and orientation of the hand in robot coordinate space, a subtraction unit that calculates the difference between the output of the first coordinate conversion unit and feedback information, an inverse kinematics calculation unit that calculates a control command for a joint angle to the robot based on the output of the subtraction unit, a forward kinematics calculation unit that calculates the position and orientation of the hand in the robot coordinate space based on a joint angle signal from the robot, and a coordinate conversion unit that derives a coordinate conversion formula for converting the position and orientation of the hand in global coordinates based on the position and orientation of the hand. a camera image processing unit that processes a camera image of the periphery of the robot taken by a camera attached to the robot so that the camera image can be digitally computed, a position / posture estimation unit that estimates a position / posture of the hand based on the camera image output from the camera image processing unit, a second coordinate transformation unit that transforms the position / posture of the hand estimated by the position / posture estimation unit into robot coordinates, and a feedback information generation unit that creates the feedback information based on an output of the forward kinematics calculation unit and an output of the second coordinate transformation unit. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-30106 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-mentioned conventional technology, the position of the robot's hand is estimated based on camera images. However, it is not possible to detect the state quantities of each joint of the robot, and if detection is desired, an additional sensor must be installed.

[0006] The present invention has been made in view of the above, and has an object to provide a robot working system capable of estimating the joint state quantities of a multi-joint robot in a harsh environment such as a high level of radiation. [Means for solving the problem]

[0007] The present application includes multiple means for solving the above problems. One example of such a means is a multi-joint robot configured by continuously connecting multiple links at multiple joints, a link measurement device that measures at least one of the position and orientation of a link at the tip of the multi-joint robot, a drive control device that transmits joint operation commands that control the drive of the multi-joint robot, and a joint state estimation device that estimates joint states that indicate the states of multiple joints of the multi-joint robot using the measurement results of the link measurement device, the joint operation commands from the drive control device, and estimated values ​​of past joint state quantities. Effect of the Invention

[0008] According to the present invention, it is possible to estimate the joint state quantities of an articulated robot in a harsh environment such as a high level of radiation. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an overall configuration of a robot working system according to a first embodiment. [Diagram 2] FIG. 2 is a functional block diagram illustrating a processing function of the joint state estimation device. [Diagram 3] FIG. 2 is a diagram illustrating an example of a joint state estimation model according to the first embodiment. [Figure 4] 4 is a flowchart showing a joint state estimation process in the joint state estimation device according to the first embodiment. [Diagram 5] FIG. 11 is a diagram illustrating an overall configuration of a robot working system according to a second embodiment. [Figure 6] FIG. 11 is a diagram illustrating an example of a joint state estimation model according to a second embodiment. [Figure 7] 10 is a flowchart showing a joint state estimation process in a joint state estimation device according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] <First embodiment> A first embodiment of the present invention will be described with reference to FIGS.

[0012] FIG. 1 is a diagram showing an outline of the overall configuration of a robot working system according to the present embodiment.

[0013] 1, a robot working system 1 according to this embodiment includes a multi-joint robot 2 configured by connecting multiple links 21, 22, 23 continuously with multiple joints 24, 25, a link measurement device 3 that measures at least one of the position and posture of the link 23 at the tip of the multi-joint robot 2, a drive control device 5 that transmits a joint operation command that controls the drive of the multi-joint robot 2, and a joint state estimation device 4 that estimates a joint state indicating the state of multiple joints of the multi-joint robot 2 using the measurement result of the link measurement device 3, the joint operation command from the drive control device 5, and an estimated value of a past joint state quantity. Note that, in this embodiment, the multi-joint robot 2 configured by connecting three links 21, 22, 23 with joints 24, 25 will be described as an example, but the present invention can also be applied to a multi-joint robot having a different number of links (number of joints).

[0014] In the articulated robot 2, a plurality of (e.g., three) links 21, 22, 23 are continuously connected by a plurality of (e.g., two) joints 24, 25. In this embodiment, the joints 24, 25 are described as being rotary joints, but the present invention is not limited to these, and other types of joints such as linear joints and parallel link joints may be used. The articulated robot 2 is capable of handling or moving objects, and performs predetermined tasks such as assembling parts, acquiring images, and transporting. The function of the articulated robot 2 may be a robot arm alone for the purpose of manipulating objects or acquiring images, or may be a robot equipped with crawlers, wheels, legs, or the like for mobility purposes, or a robot equipped with both of these.

[0015] The link measurement device 3 is a device that measures at least one of the position and the orientation of the link 23 at the tip of the articulated robot 2. More specifically, the link measurement device 3 is configured to include a measuring instrument and a processing unit that processes the measurement value of the measuring instrument to calculate at least one of the position and the orientation of the link 23 at the tip of the articulated robot 2. Note that the measurement means of the link measurement device 3 is not limited, and for example, a method of estimating the self-position (the position and the orientation of the link 23) based on image information obtained by an image sensor attached to the link 23, a method of estimating the self-position (the position and the orientation of the link 23) from the measurement value of an inertial sensor such as an IMU (Inertial Measurement Unit) attached to the link 23, a method of measuring the position and the orientation of the link 23 based on image information captured by an image sensor attached to the work environment of a landmark such as an AR marker attached to the link 23, or a combination of these methods.

[0016] The drive control device 5 is a device that transmits joint operation commands to the articulated robot 2 and controls the drive of the joints 24, 25. The joint operation command is a signal that instructs the operation (movement direction, movement speed, etc.) of the actuators that constitute the joints 24, 25. For example, if the actuator is a motor, it is possible to transmit an applied current or the like as a joint operation command, and if it is hydraulically driven, it is possible to transmit an applied pressure or the like as a joint operation command. The joint operation command may be generated by the robot operator using an input unit (not shown) such as a keyboard, mouse, or game controller provided in the drive control device 5, or may be configured to generate the command automatically by providing a separate command generation unit.

[0017] The joint state estimation device 4 estimates a joint state quantity from a joint operation command transmitted from the drive control device 5 to the multi-joint robot 2 and an estimated value of the past joint state quantity.

[0018] FIG. 2 is a functional block diagram illustrating the processing functions of the joint state estimation device.

[0019] In FIG. 2, the joint state estimation device 4 is a computer, and includes an input / output unit 41, a storage unit 42, and a control unit 43.

[0020] User interface devices such as a display, keyboard, and mouse are connected to the input / output unit 41. The input / output unit 41 inputs parameters of a joint state estimation model (described later) and displays an estimated joint state. The input / output unit 41 is equipped with a communication device, and is capable of transmitting and receiving data (signals) between the joint state estimation device 4 and devices such as the link measurement device 3 and the drive control device 5.

[0021] The storage unit 42 includes storage devices such as a read only memory (ROM), a random access memory (RAM), a solid state drive (SSD), etc. The storage unit 42 stores a joint state estimation model 421, a program 422, etc. The program 422 includes a description of a joint state estimation process (see FIG. 4 below).

[0022] The control unit 43 executes each processing function of an acquisition unit 431, a joint state estimation unit 432, etc.

[0023] The acquisition unit 431 retrieves various inputs obtained via the input / output unit 41 and various memory data stored in the memory unit 42 at an appropriate timing, performs appropriate information processing as necessary, and then obtains information necessary for processing in other functions within the control unit 43 and makes it available for use.

[0024] The joint state estimation unit 432 estimates a joint state quantity from a joint operation command transmitted by the drive control device 5 to the articulated robot 2 and an estimated value of a past joint state quantity, using the joint state estimation model 421 stored in the storage unit 42. The estimated value of the joint state quantity may be displayed to the operator of the robot on the input / output unit 41, or, if the drive control device 5 has a command generation unit, may be transmitted to the command generation unit and used for target value control.

[0025] FIG. 3 is a diagram illustrating an example of a joint state estimation model.

[0026] In FIG. 3, the joint state estimation model 421 includes a joint state candidate generating unit 4211 , a forward kinematics calculating unit 4212 , a likelihood calculating unit 4213 , and a weighting unit 4214 .

[0027] The joint state candidate generating unit 4211 generates a plurality of joint state candidates estimated from the joint operation command transmitted by the drive control device 5 to the articulated robot 2 and the past estimated joint states. Although there is a limit to the number of candidates that can be generated, the more candidates that are generated, the more the estimation accuracy is expected to improve. On the other hand, since an increase in the amount of calculations needs to be suppressed from the viewpoint of the calculation load and speed, the number of joint state candidates to be generated is set taking into consideration the trade-off between accuracy and amount of calculations. Note that at the first time (at the start of the generation process) when the joint state candidate generating unit 4211 generates a joint state candidate, there is no past estimated joint state, so an appropriate value is used as an initial value, or the articulated robot 2 is driven to a mechanical end point and a known joint state is used.

[0028] For example, consider a multi-joint robot consisting of four joints (joint states: θ1, θ2, θ3, θ4). Here, consider the case where a joint operation command is sent to operate the joint corresponding to the joint state θ1 in a positive direction. At this time, since it is predicted that the joint state θ1 will increase, a positive value perturbation (i.e., probabilistic noise) is added to obtain joint state candidates. The perturbation added to the other joint states θ2 to θ3 may be 0 (zero), or a perturbation with a value smaller than that of the joint state θ1 may be added. In addition, the perturbation may be a value that takes into consideration the joint operation command. For example, when a Gaussian distribution function g having a mean value u and a variance v (u, v>0) is considered, the perturbation is (+g) in the case of a positive direction operation command, (-g) in the case of a negative direction operation command, and (+0) in the case of no operation command, depending on the joint operation command. In this case, the mean value u and the variance v are parameters, and the extent to which the joint moves in response to the operation command and the variation are estimated and set in advance, and stored in the storage unit 42. Also, instead of the Gaussian distribution function, other probability distribution functions such as a uniform distribution over a certain range or a t-distribution may be used.

[0029] The forward kinematics calculation unit 4212 calculates the position and orientation of the link corresponding to the joint state candidate generated by the joint state candidate generation unit 4211. In the articulated robot 2, once the states of all the joints are determined, the position and orientation of the link are uniquely determined. In general, such a calculation is called a forward kinematics calculation. This forward kinematics calculation is performed based on information regarding the lengths of the links and the positions and types of the joints that can be grasped when the articulated robot 2 is designed.

[0030] The likelihood calculation unit 4213 calculates the likelihood of the joint state candidate by using the error between the position and orientation of the link calculated by the forward kinematics calculation unit 4212 and at least one of the position and orientation of the tip link 23 obtained by the link measurement device 3. The likelihood is the degree of likelihood of the value of a parameter of a model or distribution that explains an observed value when the observed value is given. The likelihood can be expressed as a function of the parameters, and is therefore also called a likelihood function. The likelihood calculated by the likelihood calculation unit 4213 is used for weighting the joint state candidate in the weighting unit 4214, so it is sufficient that the function is larger as the error becomes smaller and smaller as the error becomes larger, and for example, a Gaussian function using the error can be considered.

[0031] The weighting unit 4214 weights the joint state candidates using the joint state candidates generated by the joint state candidate generating unit 4211 and the likelihood calculated by the likelihood calculation unit, and outputs the weighted joint state candidates as estimated joint states to the joint state candidate generating unit 4211. In addition, the estimated joint states generated by the weighting unit 4214 are output as calculation results in the joint state estimation model 421.

[0032] Fig. 4 is a flowchart showing the joint state estimation process in the joint state estimation device 4. As shown in Fig. 4, the joint state estimation device 4 continuously estimates the states of multiple joints by repeating a cycle of the joint state estimation process (steps S100 to S150).

[0033] In the joint state estimation process, the joint state estimation device 4 first acquires a joint operation command from the drive control device 5 (step S100).

[0034] Next, the measurement value is obtained from the link measurement device 3 (step S110).

[0035] Next, a plurality of joint state candidates are generated by adding perturbations to the past estimated joint states with reference to the joint operation command acquired from the drive control device 5 (step S120). In the case of the first calculation in which there is no past estimated joint state, the joint state candidates are generated using appropriate initial values.

[0036] Next, the link positions and orientations corresponding to the multiple joint state candidates generated in step S120 are calculated (step S130).

[0037] Next, likelihoods corresponding to the multiple link positions / orientations are calculated from the measurement values ​​acquired in step S110 and the multiple link positions / orientations calculated in step S130 (step S140).

[0038] Next, the multiple joint state candidates generated in step S120 are weighted by the likelihood calculated in step S140, acquired as estimated joint states, and output (step S150). Note that the estimated joint states calculated in step S150 are used as past estimated joint states in generating joint state candidates (step S120) in the next processing cycle and thereafter.

[0039] The effects of the present embodiment configured as above will be described.

[0040] When using a work system of an articulated robot in a harsh environment such as a high radiation environment, a robot status sensor equipped with electronic devices that are not resistant to high radiation cannot be used, and other means for grasping the status of the robot are required. For example, in a robot work system that estimates the position of the robot's hand based on camera images, it is not possible to detect the joint status quantities of each joint of the robot, so in order to detect the joint status quantities, it is necessary to add a sensor that is resistant to high radiation.

[0041] In contrast, in the present embodiment, a multi-joint robot is configured by connecting a plurality of links continuously through a plurality of joints, a link measurement device that measures at least one of the position and orientation of the link at the tip of the multi-joint robot, a drive control device that transmits joint operation commands that control the drive of the multi-joint robot, and a joint state estimation device that estimates joint states that indicate the states of the plurality of joints of the multi-joint robot using the measurement results of the link measurement device, the joint operation commands from the drive control device, and estimated values ​​of past joint state quantities. Therefore, the joint state quantities of the multi-joint robot can be estimated even in harsh environments such as those with high radiation.

[0042] In other words, in conventional robot work systems, multiple sensors were required for multiple joints to grasp the joint states, and it was difficult to install sensors on a robot while ensuring radiation resistance. However, in this embodiment, multiple joint states can be estimated using only sensors that measure the tip link position and orientation, without sensors that directly measure the joint states of the multi-joint robot, and multiple joint states can be grasped using only a single sensor, for example an image sensor.

[0043] <Second embodiment> A second embodiment of the present invention will be described with reference to FIGS.

[0044] In contrast to the first embodiment, which does not use a sensor that directly measures the joint state, this embodiment is configured to directly measure some of the joint states. Note that in this embodiment, the same members as those in the first embodiment are described using the same reference numerals, and descriptions thereof will be omitted as appropriate.

[0045] FIG. 5 is a diagram showing an outline of the overall configuration of a robot working system according to the present embodiment.

[0046] 5, a robot working system 1A according to this embodiment includes a multi-joint robot 2 configured by continuously connecting a plurality of links 21, 22, 23 via a plurality of joints 24, 25, a link measurement device 3 that measures at least one of the position and posture of the link 23 at the tip of the multi-joint robot 2, a drive control device 5 that transmits joint operation commands that control the drive of the multi-joint robot 2, a joint state measurement device 6 that measures a joint state quantity of at least one joint of the multi-joint robot 2, and a joint state estimation device 4A that estimates a joint state indicating the state of a plurality of joints of the multi-joint robot 2 using the measurement results of the link measurement device 3, the joint operation commands from the drive control device 5, estimates of past joint state quantities, and the measurement results from the joint state measurement device 6.

[0047] The joint state measuring device 6 is a device that measures a joint state quantity of at least one joint of the articulated robot 2. There are no limitations on the measuring means of the joint state measuring device 6, and possible measuring means include, for example, an encoder that measures the rotation angle (amount of rotation) of a rotary joint, or a measuring device that captures images of landmarks attached between links with an image sensor and measures their relative positions and orientations.

[0048] FIG. 6 is a diagram showing an example of a joint state estimation model according to the present embodiment.

[0049] 6, the joint state estimation model 421A includes a joint state candidate generating unit 4211A, a forward kinematics calculating unit 4212, a likelihood calculating unit 4213, and a weighting unit 4214.

[0050] The joint state candidate generating unit 4211A generates a plurality of joint state candidates estimated from the joint operation command transmitted by the drive control device 5 to the articulated robot 2 and past estimated joint states. Furthermore, the joint state candidate generating unit 4211A replaces a joint state candidate corresponding to a measurement value of the joint state measuring device 6, among the plurality of generated joint state candidates, with that measurement value. The forward kinematics calculation unit 4212 and the weighting unit 4214 perform processing using the joint state candidates generated by the joint state candidate generating unit 4211A and partly replaced with the measurement value of the joint state measuring device 6.

[0051] Fig. 7 is a flowchart showing the joint state estimation process in the joint state estimation device according to this embodiment. As shown in Fig. 7, the joint state estimation device 4A continuously estimates the states of multiple joints by repeating a cycle of the joint state estimation process (steps S100 to S150).

[0052] In the joint state estimation process, the joint state estimation device 4A first acquires a joint operation command from the drive control device 5 (step S100).

[0053] Next, a measurement value is obtained from the joint state measuring device 6 (step S105).

[0054] Next, the measurement value is acquired from the link measurement device 3 (step S110). Note that the order of steps S105 and S110 may be reversed.

[0055] Next, by referring to the joint operation command acquired from the drive control device 5, perturbations are added to the past estimated joint states to generate multiple joint state candidates (step S120). In the case of the first calculation in which there is no past estimated joint state, appropriate initial values ​​are used to generate joint state candidates.

[0056] Next, among the multiple joint state candidates generated, the joint state candidate corresponding to the measurement value of the joint state measuring device 6 is replaced with the measurement value (step S125). This process allows the directly measured joint state to be used for estimating other joint states. Note that, although step S125 illustrates an example in which some of the multiple joint state candidates generated in step S120 are replaced with measurement values, for example, when acquiring joint state candidates in step S120, the measurement values ​​from the joint state measuring device 6 may be directly referenced and used as some of the joint information candidates.

[0057] Next, link positions and orientations corresponding to the multiple joint state candidates generated in steps S120 and S125 are calculated (step S130).

[0058] Next, likelihoods corresponding to the multiple link positions / orientations are calculated from the measurement values ​​acquired in step S110 and the multiple link positions / orientations calculated in step S130 (step S140).

[0059] Next, the multiple joint state candidates generated in step S120 are weighted by the likelihood calculated in step S14, acquired as estimated joint states, and output (step S150). Note that the estimated joint states calculated in step S150 are used as past estimated joint states in generating joint state candidates (step S120) in the next processing cycle and thereafter.

[0060] The other configurations are similar to those of the first embodiment.

[0061] The present embodiment configured as above can also provide the same effects as the first embodiment.

[0062] In addition, when the state of some joints can be directly measured, the directly measured state of the joints can be used to estimate the state of other joints. In other words, since highly reliable directly measured values ​​are used as reference values, it is expected that the estimation accuracy will be improved.

[0063] <Additional Notes> The present invention is not limited to the above-mentioned embodiment, but includes various modified examples. For example, the above-mentioned embodiment has been described in detail to clearly explain the present invention, and is not necessarily limited to those including all of the configurations described. It is also possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.

[0064] In addition, the above-mentioned configurations, functions, processing units, processing means, etc. may be realized in part or in whole by hardware, for example, by designing them as integrated circuits. In addition, the above-mentioned configurations, functions, etc. may be realized in software by a processor interpreting and executing a program that realizes each function. Information such as the program, table, file, etc. that realizes each function can be stored in a memory, a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0065] In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and not all control lines and information lines in the product are necessarily shown. In reality, it can be considered that almost all components are connected to each other. [Explanation of symbols]

[0066] 1, 1A... robot working system, 2... multi-joint robot, 3... link measurement device, 4, 4A... joint state estimation device, 5... drive control device, 6... joint state measurement device, 21, 22, 23... link, 24, 25... joint, 41... input / output unit, 42... memory unit, 43... control unit, 421, 421A... joint state estimation model, 422... program, 431... acquisition unit, 432... joint state estimation unit, 4211, 4211A... joint state candidate generation unit, 4212... forward kinematics calculation unit, 4213... likelihood calculation unit, 4214... weighting unit

Claims

1. an articulated robot configured by continuously connecting a plurality of links at a plurality of joints; a link measurement device that measures at least one of a position and an orientation of a link at a tip end of the articulated robot; a drive control device that transmits a joint operation command for controlling the drive of the articulated robot; a joint state estimation device that estimates joint states indicating states of a plurality of joints of the articulated robot using the measurement results of the link measurement device, joint operation commands from the drive control device, and past joint state quantity estimates; A robot working system comprising:

2. 2. The robot operating system according to claim 1, The joint state estimation device includes: a joint state candidate generating unit that generates a plurality of joint state candidates based on a joint operation command from the drive control device and a past estimated joint state; a forward kinematics calculation unit that calculates positions and orientations of links corresponding to the joint state candidates generated by the joint state candidate generation unit; a likelihood calculation unit that calculates a likelihood of the position and orientation of the link calculated by the forward kinematics calculation unit using an error between the position and orientation of the link calculated by the forward kinematics calculation unit and the position and orientation of the link measured by the link measurement device; a weighting unit that calculates an estimated joint state by weighting each of the plurality of joint state candidates generated by the joint state candidate generating unit with the likelihood calculated by the likelihood calculating unit; A robot working system comprising:

3. 3. The robot operating system according to claim 2, The robot working system according to claim 1, wherein the joint state candidate generating unit adds probabilistic noise corresponding to a joint operation command from the drive control device to a past estimated joint state.

4. a multi-joint robot in which a plurality of links are continuously connected by a plurality of joints; a link measurement device that measures at least one of a position and an orientation of any link of the articulated robot; a drive control device that outputs a joint operation command for controlling the drive of the articulated robot; a joint state measuring device that measures at least one joint state quantity of the multi-joint robot; a joint state estimation device that estimates joint state quantities indicating states of a plurality of joints of the articulated robot, using measurement results from the link measurement device, joint operation commands from the drive control device, past estimates of joint state quantities, and measurement results from the joint state measurement device; A robot working system comprising:

5. 5. The robot operating system according to claim 4, The joint state estimation device includes: a joint state candidate generating unit that generates a plurality of joint state candidates based on a joint operation command from the drive control device, a past estimated joint state, and a measurement value of the joint state measuring device; a forward kinematics calculation unit that calculates positions and orientations of links corresponding to the joint state candidates generated by the joint state candidate generation unit; a likelihood calculation unit that calculates a likelihood of the position and orientation of the link calculated by the forward kinematics calculation unit using an error between the position and orientation of the link calculated by the forward kinematics calculation unit and the position and orientation of the link measured by the link measurement device; a weighting unit that calculates an estimated joint state by weighting each of the plurality of joint state candidates generated by the joint state candidate generating unit with the likelihood calculated by the likelihood calculating unit; A robot working system comprising:

6. 6. The robot operating system according to claim 5, A robot working system, wherein the joint state candidate generating unit replaces a joint state candidate corresponding to a measurement value of the joint state measuring device, among the plurality of generated joint state candidates, with the measurement value.

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