COMMAND VALUE GENERATING DEVICE, METHOD, AND PROGRAM
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United States of America Patent
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Issued Date -
Oct 24, 2024
app pub date -
Mar 28, 2022
filing date -
Mar 28, 2022
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Abstract
An acquisition section (31) acquires command values to execute a task on a target object with a robot (40) and acquires state data representing a state of the robot (40) in a case in which an action of the robot (40) during the task is taught manually, which is state data of plural types including at least action data representing an action of the robot (40), position/orientation data representing a relative position and relative orientation between the robot (40) and the target object, and external force data representing external force received by the target object during the task. A generation section (33) generates a generator for, based on the command values and the state data acquired for corresponding times by the acquisition section (31), generating command values to execute an action with the robot (40) corresponding to the state data that has been input.
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