CN118076467A - 把持控制装置和把持控制方法 - Google Patents

把持控制装置和把持控制方法 Download PDF

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Publication number
CN118076467A
CN118076467A CN202280067963.6A CN202280067963A CN118076467A CN 118076467 A CN118076467 A CN 118076467A CN 202280067963 A CN202280067963 A CN 202280067963A CN 118076467 A CN118076467 A CN 118076467A
Authority
CN
China
Prior art keywords
fingertip
control device
force
contact surface
elastic body
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.)
Withdrawn
Application number
CN202280067963.6A
Other languages
English (en)
Chinese (zh)
Inventor
水谷智子
松田康宏
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 CN118076467A publication Critical patent/CN118076467A/zh
Withdrawn legal-status Critical Current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
    • 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
    • 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
    • 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
    • B25J13/084—Tactile sensors
    • 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
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

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)
CN202280067963.6A 2021-10-15 2022-08-22 把持控制装置和把持控制方法 Withdrawn CN118076467A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021169412 2021-10-15
JP2021-169412 2021-10-15
PCT/JP2022/031538 WO2023062941A1 (ja) 2021-10-15 2022-08-22 把持制御装置、および把持制御方法

Publications (1)

Publication Number Publication Date
CN118076467A true CN118076467A (zh) 2024-05-24

Family

ID=85987376

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280067963.6A Withdrawn CN118076467A (zh) 2021-10-15 2022-08-22 把持控制装置和把持控制方法

Country Status (4)

Country Link
US (1) US20250236014A1 (https=)
JP (1) JPWO2023062941A1 (https=)
CN (1) CN118076467A (https=)
WO (1) WO2023062941A1 (https=)

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0790486B2 (ja) * 1988-06-16 1995-10-04 山武ハネウエル株式会社 滑り検出装置及びロボットハンドの滑り検出装置
JP3871293B2 (ja) * 1999-03-10 2007-01-24 学校法人慶應義塾 ハンド又はマニピュレータによる物体把持制御方法
US10038854B1 (en) * 2015-08-14 2018-07-31 X Development Llc Imaging-based tactile sensor with multi-lens array
JP2017177294A (ja) * 2016-03-31 2017-10-05 キヤノン株式会社 ロボット制御装置、ロボット制御方法、ロボットシステムおよびコンピュータプログラム
JP6640792B2 (ja) * 2017-06-30 2020-02-05 ファナック株式会社 ハンド制御装置、ハンド制御方法、およびハンドのシミュレーション装置
US11667039B2 (en) * 2019-01-31 2023-06-06 Toyota Research Institute, Inc. Systems and methods for estimating shape, contact forces, and pose of objects manipulated by robots having compliant contact and geometry sensors
CN113950396B (zh) * 2019-06-05 2024-04-02 索尼集团公司 控制装置、控制方法及程序
US11772262B2 (en) * 2019-10-25 2023-10-03 Dexterity, Inc. Detecting slippage from robotic grasp
US11584026B2 (en) * 2020-02-17 2023-02-21 Toyota Research Institute, Inc. Robot arm assemblies including fingers having deformable sensors
DE112021001419B4 (de) * 2020-03-05 2026-02-12 Fanuc Corporation Aufnahmesystem und Verfahren
KR20210156501A (ko) * 2020-06-18 2021-12-27 한국과학기술연구원 핑거팁 센서모듈과, 이를 구비한 로봇핸드 및 이를 이용한 파지 방법
WO2022039058A1 (ja) * 2020-08-20 2022-02-24 ソニーグループ株式会社 情報処理装置、情報処理方法、およびプログラム
JP7581700B2 (ja) * 2020-08-21 2024-11-13 オムロン株式会社 触覚センシングシステム

Also Published As

Publication number Publication date
WO2023062941A1 (ja) 2023-04-20
US20250236014A1 (en) 2025-07-24
JPWO2023062941A1 (https=) 2023-04-20

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Application publication date: 20240524