Processing

Please wait...

Settings

Settings

Goto Application

1. WO2020110359 - SYSTEM AND METHOD FOR ESTIMATING POSE OF ROBOT, ROBOT, AND STORAGE MEDIUM

Publication Number WO/2020/110359
Publication Date 04.06.2020
International Application No. PCT/JP2019/025264
International Filing Date 19.06.2019
IPC
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
CPC
B25J 9/0084
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
0084comprising a plurality of manipulators
B25J 9/1653
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1653parameters identification, estimation, stiffness, accuracy, error analysis
B25J 9/1664
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1664characterised by motion, path, trajectory planning
B25J 9/1682
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1679characterised by the tasks executed
1682Dual arm manipulator; Coordination of several manipulators
B25J 9/1697
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
1697Vision controlled systems
G05B 2219/39146
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
39Robotics, robotics to robotics hand
39146Swarm, multiagent, distributed multitask fusion, cooperation multi robots
Applicants
  • 三菱電機株式会社 MITSUBISHI ELECTRIC CORPORATION [JP]/[JP]
Inventors
  • PAJOVIC, Milutin
  • SHAH, Vikrant
  • ORLIK, Philip
Agents
  • SOGA, Michiharu
Priority Data
16/202,19328.11.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) SYSTEM AND METHOD FOR ESTIMATING POSE OF ROBOT, ROBOT, AND STORAGE MEDIUM
(FR) SYSTÈME ET PROCÉDÉ D'ESTIMATION DE POSE DE ROBOT, ROBOT ET SUPPORT DE STOCKAGE
Abstract
(EN)
A system for estimating a pose of a robot, the pose including at least one of a location and orientation of the robot, includes a particle filter to track the pose of the robot using particles that defining a probability of a pose of the robot and a particle tuner to update the particles of the robot based on particles of neighboring robot. Upon receiving data indicative of a relative pose between a pose of the robot and a pose of a neighboring robot, and particles of the neighboring robot, the particle tuner pairs an arbitrarily sampled particle of the robot with an arbitrarily sampled particle of the neighboring robot, determines a weight of the paired particles in reverse proportion to an error between a relative pose defined by the paired particles and the relative pose between the robot and the neighboring robot, and updates the particles of the robot in accordance to the weights of corresponding paired particles.
(FR)
La présente invention concerne un système d'estimation d'une pose d'un robot, la pose comprenant un emplacement et/ou une orientation du robot, comportant un filtre à particules pour suivre la pose du robot à l'aide de particules qui définissent une probabilité d'une pose du robot et un syntoniseur de particules pour mettre à jour les particules du robot sur la base de particules d'un robot voisin. Lors de la réception de données indiquant une pose relative entre une pose du robot et une pose d'un robot voisin, et des particules du robot voisin, le syntoniseur de particules apparie une particule échantillonnée arbitrairement du robot avec une particule échantillonnée arbitrairement du robot voisin, détermine un poids des particules appariées en proportion inverse par rapport à une erreur entre une pose relative définie par les particules appariées et la pose relative entre le robot et le robot voisin, et met à jour les particules du robot en fonction des poids de particules appariées correspondantes.
Also published as
EP2019742975
Latest bibliographic data on file with the International Bureau