Information processing system and information processing method

Abstract

This technology allows machine operation to be corrected by user input, thereby enabling the machine to operate as desired by the user. [Solution] An information processing system comprising an operating device for holding and operating a processing instrument for processing an object, and a control device for controlling the operation of the operating device, wherein the operating device is provided with a force sensor for detecting the pressure generated when the processing instrument comes into contact with the object as a result of the operation of the operating device, and the control device obtains the normal pressure generated in the direction normal to the surface of the object from the detection result of the force sensor, and controls the operation of the operating device based on the normal pressure.

Claims

1. An operating device for holding a processing device for processing an object and for operating the said processing device, An information processing system having a control device for controlling the operation of the aforementioned operating device, The operating device is provided with a force sensor that detects the pressure generated when the processing device comes into contact with the object as the operating device is operated, The control device is Based on the detection results from the force sensor, the normal pressure generated in the direction normal to the surface of the object is obtained, and the operation of the operating device is controlled based on the normal pressure. Information processing system.

2. In the information processing system described in claim 1, The control device adjusts the amount of movement of the operating device in the normal direction. Information processing system.

3. In the information processing system described in claim 1, The control device controls the operation of the operating device so that the normal pressure becomes a target value set by the user. Information processing system.

4. In the information processing system described in claim 3, The control device identifies the normal pressure in a local coordinate system based on the object, converts the identified normal pressure into world coordinates based on the operating device, and controls the operation of the operating device based on the normal pressure converted into world coordinates. Information processing system.

5. In the information processing system described in claim 4, The control device converts the normal pressure identified in the local coordinate system into world coordinates using an inverse motion function. Information processing system.

6. In the information processing system described in claim 1, The operating device comprises a pair of arms that independently hold the processing instrument and the object, respectively, in an operable manner. The force sensor is provided on at least one of the pair of arms. Information processing system.

7. In the information processing system described in claim 1, The system includes a storage unit that stores a task program that defines the operation of the operating device, including the parameters of the normal pressure, The control device is When controlling the operation of the operating device based on the task program, the system issues an instruction to stop the operation of the operating device based on the task program based on a user request, and corrects parameters including the target value of the normal pressure specified in the task program. Information processing system.

8. In the information processing system described in claim 7, A detection device including a camera, The terminal device comprises a display unit that displays images captured by the camera, and an input unit that receives input from the user. The display unit shows parameters including the target value of the normal pressure. The input unit accepts changes to parameters, including the target value of the normal pressure. Information processing system.

9. An information processing method for controlling the operation of an operating device that holds a processing device for processing an object and operates the said processing device, The operating device is equipped with a force sensor that detects the pressure generated when the processing instrument comes into contact with the object as a result of the operation of the operating device. Based on the detection results from the force sensor, the normal pressure generated in the direction normal to the surface of the object is obtained, and the operation of the operating device is controlled based on the normal pressure. Information processing methods.

10. In the information processing method described in claim 9, Based on the normal pressure, the amount of movement of the operating device in the direction normal to the surface of the object is controlled. Information processing methods.

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