Patent ID: 11919164
Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 9:
10. A method of controlling a robot which performs work based on an operation command comprising:
a motion detection process which detects an operation data indicating a motion of the robot;
an environment detection process which detects a surrounding environment data indicating condition of surrounding environment of the robot;
an operator-operating force detection process which detects an operator-operating force that is an operating force applied to an operation apparatus by the operator;
a calculation operating force output process which outputs a calculation operating force; and
an operation command output process which outputs the operation command based on the operator-operating force and the calculation operating force,
wherein
the calculation operating force output process which estimates and outputs the calculation operating force based on a model, the detected operation data, the detected surrounding environment data, and the outputted operation command, the model being constructed by performing a machine learning of the operator-operating force, the surrounding environment data, the operation data, and the operation command.