CN108972540B - 机器人手、机器人手的控制方法和机器人装置 - Google Patents

机器人手、机器人手的控制方法和机器人装置 Download PDF

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Publication number
CN108972540B
CN108972540B CN201810533986.7A CN201810533986A CN108972540B CN 108972540 B CN108972540 B CN 108972540B CN 201810533986 A CN201810533986 A CN 201810533986A CN 108972540 B CN108972540 B CN 108972540B
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China
Prior art keywords
control
force
gripping
grip
force control
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CN201810533986.7A
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English (en)
Chinese (zh)
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CN108972540A (zh
Inventor
天野新吾
藤井信明
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Canon Inc
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Canon Inc
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Publication of CN108972540A publication Critical patent/CN108972540A/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39322—Force and position control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39478—Control force and posture of hand
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw
    • Y10S901/39—Jaw structure
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN201810533986.7A 2017-05-30 2018-05-29 机器人手、机器人手的控制方法和机器人装置 Active CN108972540B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-107063 2017-05-30
JP2017107063A JP6946057B2 (ja) 2017-05-30 2017-05-30 ロボットハンド、ロボットハンドの制御方法、ロボット装置

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CN108972540A CN108972540A (zh) 2018-12-11
CN108972540B true CN108972540B (zh) 2022-05-24

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US (1) US11192255B2 (enExample)
JP (1) JP6946057B2 (enExample)
CN (1) CN108972540B (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180021949A1 (en) * 2016-07-20 2018-01-25 Canon Kabushiki Kaisha Robot apparatus, robot controlling method, program, and recording medium
US12103180B2 (en) * 2018-05-13 2024-10-01 Robotiq Inc. Robotic gripper
JP7211007B2 (ja) * 2018-10-30 2023-01-24 セイコーエプソン株式会社 制御装置、ロボットシステムおよび制御方法
US11267139B2 (en) 2019-09-24 2022-03-08 Scinomix Gripper for automated tube handling
JP7860536B2 (ja) * 2021-06-15 2026-05-18 ソニーグループ株式会社 ロボット装置およびセンサ装置
EP4419301A4 (en) 2021-10-19 2025-06-18 Shanghai Flexiv Robotics Technology Co., Ltd. GRIPPING DEVICE AND ROBOT EQUIPPED WITH SAME
CN113752290B (zh) * 2021-10-19 2023-04-25 上海非夕机器人科技有限公司 夹持器及机器人
CN114098713B (zh) * 2021-10-29 2024-04-26 北京体育大学 一种分指运动评估方法及分指运动评估装置
WO2023127017A1 (ja) * 2021-12-27 2023-07-06 三菱電機株式会社 検査装置、検査方法、及び検査プログラム
JP2023109575A (ja) * 2022-01-27 2023-08-08 ミネベアミツミ株式会社 把持装置、把持システム及び把持装置の制御方法
EP4640380A4 (en) * 2022-12-22 2026-01-21 Fuji Corp CONTROL DEVICE, FOREIGN BODY REMOVAL DEVICE, COLLECTION DEVICE AND METHOD FOR CONTROLLING COLLECTION DEVICES

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JP2010069584A (ja) * 2008-09-19 2010-04-02 Yaskawa Electric Corp マニピュレータの制御装置および制御方法
CN101952087A (zh) * 2008-02-06 2011-01-19 松下电器产业株式会社 机器人、机器人的控制装置及控制方法、以及机器人的控制装置的控制程序
CN102056715A (zh) * 2009-01-09 2011-05-11 松下电器产业株式会社 机器人手臂的控制装置及控制方法、机器人、机器人手臂的控制程序及集成电子电路
CN102773865A (zh) * 2011-05-10 2012-11-14 精工爱普生株式会社 机械手以及机器人
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CN106239516A (zh) * 2015-06-03 2016-12-21 精工爱普生株式会社 机器人控制装置、机器人以及机器人系统

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JP2001038667A (ja) * 1999-08-05 2001-02-13 Toyota Motor Corp ワーク把持装置
JP2007309684A (ja) 2006-05-16 2007-11-29 Mitsutoyo Corp 測定制御装置、表面性状測定装置、および、測定制御方法
JP4759660B2 (ja) * 2009-08-21 2011-08-31 パナソニック株式会社 ロボットアーム制御用の装置、方法、プログラム及び集積電子回路、並びに、組立ロボット
JP2011230239A (ja) * 2010-04-28 2011-11-17 Honda Motor Co Ltd ワークの把持方法
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Publication number Priority date Publication date Assignee Title
JP2009202332A (ja) * 2008-01-28 2009-09-10 Nachi Fujikoshi Corp 産業用ロボットのハンド装置
CN101952087A (zh) * 2008-02-06 2011-01-19 松下电器产业株式会社 机器人、机器人的控制装置及控制方法、以及机器人的控制装置的控制程序
JP2010069584A (ja) * 2008-09-19 2010-04-02 Yaskawa Electric Corp マニピュレータの制御装置および制御方法
CN102056715A (zh) * 2009-01-09 2011-05-11 松下电器产业株式会社 机器人手臂的控制装置及控制方法、机器人、机器人手臂的控制程序及集成电子电路
CN102773865A (zh) * 2011-05-10 2012-11-14 精工爱普生株式会社 机械手以及机器人
CN103889202A (zh) * 2012-12-20 2014-06-25 Juki株式会社 电子部件安装装置
CN106239516A (zh) * 2015-06-03 2016-12-21 精工爱普生株式会社 机器人控制装置、机器人以及机器人系统
CN105690416A (zh) * 2016-04-03 2016-06-22 渤海大学 一种机器人夹持装置及控制方法

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CN108972540A (zh) 2018-12-11
US11192255B2 (en) 2021-12-07
JP6946057B2 (ja) 2021-10-06
JP2018202497A (ja) 2018-12-27
US20180345502A1 (en) 2018-12-06

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