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1. (WO2017169143) INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, AND CALIBRATION SYSTEM
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Pub. No.: WO/2017/169143 International Application No.: PCT/JP2017/004473
Publication Date: 05.10.2017 International Filing Date: 08.02.2017
IPC:
B25J 9/06 (2006.01) ,B25J 9/22 (2006.01) ,G05B 19/18 (2006.01) ,G05B 19/404 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
06
characterised by multi-articulated arms
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
22
Recording or playback systems
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
18
Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
18
Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
404
characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
Applicants:
ソニー株式会社 SONY CORPORATION [JP/JP]; 東京都港区港南1丁目7番1号 1-7-1, Konan, Minato-ku, Tokyo 1080075, JP
Inventors:
長尾 大輔 NAGAO, Daisuke; JP
武藤 輝 MUTO, Akira; JP
相馬 祥宏 SOMA, Yoshihiro; JP
Agent:
亀谷 美明 KAMEYA, Yoshiaki; JP
金本 哲男 KANEMOTO, Tetsuo; JP
萩原 康司 HAGIWARA, Yasushi; JP
松本 一騎 MATSUMOTO, Kazunori; JP
Priority Data:
2016-06791630.03.2016JP
Title (EN) INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, AND CALIBRATION SYSTEM
(FR) DISPOSITIF DE TRAITEMENT D’INFORMATIONS, PROCÉDÉ DE TRAITEMENT D’INFORMATIONS ET SYSTÈME D’ÉTALONNAGE
(JA) 情報処理装置、情報処理方法及びキャリブレーションシステム
Abstract:
(EN) [Problem] To provide an information processing device that can estimate mechanical error easily and with high precision. [Solution] An information processing device comprising an angle information acquisition unit that acquires angles for each joint of a multi-axial arm having a plurality of joints in a plurality of orientations as angle information while the distal end of the arm is fixed, and a mechanical error estimation unit that estimates the mechanical error for the arm on the basis of the angle information and arm mechanism information.
(FR) [Problème] Fournir un dispositif de traitement d'informations qui peut estimer une erreur mécanique aisément et avec une précision élevée. [Solution] La présente invention concerne un dispositif de traitement d'informations comprenant une unité d'acquisition d'informations d'angle qui acquiert des angles pour chaque articulation d'un bras multiaxial ayant une pluralité d'articulations dans une pluralité d'orientations en tant qu'informations d'angle tandis que l'extrémité distale du bras est fixe, et une unité d'estimation d'erreur mécanique qui estime l'erreur mécanique pour le bras sur la base des informations d'angle et des informations de mécanisme de bras.
(JA) 【課題】容易かつ高精度に機械誤差を推定可能な情報処理装置を提供する。 【解決手段】複数の関節を有する多軸のアームの先端を固定した状態で、複数の姿勢についてアームの各関節の角度を角度情報として取得する角度情報取得部と、角度情報とアームの機構情報とに基づいて、アームの機械誤差を推定する機械誤差推定部と、を備える、情報処理装置。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)