CN117480038A - 机器人装置、传感器装置和控制装置 - Google Patents

机器人装置、传感器装置和控制装置 Download PDF

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Publication number
CN117480038A
CN117480038A CN202280041496.XA CN202280041496A CN117480038A CN 117480038 A CN117480038 A CN 117480038A CN 202280041496 A CN202280041496 A CN 202280041496A CN 117480038 A CN117480038 A CN 117480038A
Authority
CN
China
Prior art keywords
sensor
grip
pressure
pressure sensor
force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202280041496.XA
Other languages
English (en)
Chinese (zh)
Inventor
后藤哲郎
御园生丈裕
小林健
长谷川隼人
坂仓義晃
宫胁真奈美
塚本圭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sony Group Corp
Original Assignee
Sony Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sony Group Corp filed Critical Sony Group Corp
Publication of CN117480038A publication Critical patent/CN117480038A/zh
Pending legal-status Critical Current

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Classifications

    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • 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
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
CN202280041496.XA 2021-06-15 2022-02-17 机器人装置、传感器装置和控制装置 Pending CN117480038A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-099580 2021-06-15
JP2021099580 2021-06-15
PCT/JP2022/006384 WO2022264517A1 (ja) 2021-06-15 2022-02-17 ロボット装置、センサ装置および制御装置

Publications (1)

Publication Number Publication Date
CN117480038A true CN117480038A (zh) 2024-01-30

Family

ID=84526090

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280041496.XA Pending CN117480038A (zh) 2021-06-15 2022-02-17 机器人装置、传感器装置和控制装置

Country Status (4)

Country Link
US (1) US20240269829A1 (https=)
JP (1) JPWO2022264517A1 (https=)
CN (1) CN117480038A (https=)
WO (1) WO2022264517A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024046251A (ja) * 2022-09-22 2024-04-03 セイコーエプソン株式会社 把持装置、ロボットおよび把持装置の制御方法
JP2024108951A (ja) * 2023-01-31 2024-08-13 国立大学法人山形大学 柔らかさ測定装置、柔らかさ測定方法、ロボット把持部の把持力制御装置、ロボット制御装置、ロボット、及びロボット把持部の把持力制御用プログラム

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2593259B2 (ja) * 1991-09-13 1997-03-26 食品機械基盤技術開発株式会社 粘弾性を有する物品の把持方法
JP2003236786A (ja) * 2002-02-15 2003-08-26 Ricoh Co Ltd センシング方法及び装置
JP5003336B2 (ja) * 2007-07-31 2012-08-15 ソニー株式会社 検出装置、ロボット装置、および入力装置
JP5187552B2 (ja) * 2007-09-13 2013-04-24 ソニー株式会社 制御装置および方法、プログラム並びに記録媒体
US8588977B2 (en) * 2008-11-20 2013-11-19 University Of Utah Research Foundation Signal modulator for visual indicator
US11351001B2 (en) * 2015-08-17 2022-06-07 Intuitive Surgical Operations, Inc. Ungrounded master control devices and methods of use
JP6700726B2 (ja) * 2015-11-06 2020-05-27 キヤノン株式会社 ロボット制御装置、ロボット制御方法、ロボット制御システムおよびコンピュータプログラム
US11346727B2 (en) * 2016-09-27 2022-05-31 Sony Corporation Sensor, electronic device, wearable terminal, and control method
JP6946057B2 (ja) * 2017-05-30 2021-10-06 キヤノン株式会社 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
JP7059587B2 (ja) * 2017-11-28 2022-04-26 株式会社デンソーウェーブ ロボット制御装置および把持力調整方法
JP2021016908A (ja) * 2019-07-18 2021-02-15 京セラドキュメントソリューションズ株式会社 学習装置、ロボット制御システム及び学習制御方法

Also Published As

Publication number Publication date
JPWO2022264517A1 (https=) 2022-12-22
US20240269829A1 (en) 2024-08-15
WO2022264517A1 (ja) 2022-12-22

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