CN118317855A - 控制装置、机器人控制系统和用于控制机器人的方法 - Google Patents

控制装置、机器人控制系统和用于控制机器人的方法 Download PDF

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Publication number
CN118317855A
CN118317855A CN202280079203.7A CN202280079203A CN118317855A CN 118317855 A CN118317855 A CN 118317855A CN 202280079203 A CN202280079203 A CN 202280079203A CN 118317855 A CN118317855 A CN 118317855A
Authority
CN
China
Prior art keywords
hand
finger
contact
state
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
CN202280079203.7A
Other languages
English (en)
Chinese (zh)
Inventor
山岸友树
大野一树
阿南尚宏
石田敬之
宫村博昭
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.)
Kyocera Corp
Original Assignee
Kyocera 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 Kyocera Corp filed Critical Kyocera Corp
Publication of CN118317855A publication Critical patent/CN118317855A/zh
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • 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
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with 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
    • G05B2219/39322—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
    • G05B2219/39505—Control of gripping, grasping, contacting force, force distribution
    • 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
    • G05B2219/39519—Concurrent grasp, all forces converge in one point
    • 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
    • G05B2219/39532—Gripping force sensor build into finger
    • 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
    • G05B2219/39542—Plan grasp points, grip matrix and initial grasp force

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)
CN202280079203.7A 2021-11-29 2022-11-29 控制装置、机器人控制系统和用于控制机器人的方法 Pending CN118317855A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-193651 2021-11-29
JP2021193651 2021-11-29
PCT/JP2022/044048 WO2023095928A1 (ja) 2021-11-29 2022-11-29 制御装置、ロボット制御システム、及びロボット制御方法

Publications (1)

Publication Number Publication Date
CN118317855A true CN118317855A (zh) 2024-07-09

Family

ID=86539769

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280079203.7A Pending CN118317855A (zh) 2021-11-29 2022-11-29 控制装置、机器人控制系统和用于控制机器人的方法

Country Status (5)

Country Link
US (1) US20250018564A1 (https=)
EP (1) EP4442411A4 (https=)
JP (1) JP7678135B2 (https=)
CN (1) CN118317855A (https=)
WO (1) WO2023095928A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024126302A (ja) * 2023-03-07 2024-09-20 本田技研工業株式会社 操作制御方法、操作制御装置、及びプログラム

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4715773A (en) * 1985-06-04 1987-12-29 Clemson University Method and apparatus for repositioning a mislocated object with a robot hand
JP3742876B2 (ja) 2002-02-25 2006-02-08 国立大学法人岐阜大学 ロボットハンド及びロボットハンドの握り込み制御方法、並びにロボット及びロボットの制御方法
JP4890199B2 (ja) * 2006-11-09 2012-03-07 本田技研工業株式会社 ロボットハンドおよびロボット
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
JP2011224695A (ja) * 2010-04-19 2011-11-10 Toyota Motor Corp ロボットの把持制御システム及びロボット
JP5505138B2 (ja) * 2010-07-05 2014-05-28 株式会社安川電機 ロボット装置およびロボット装置による把持方法
US8504205B2 (en) * 2011-03-17 2013-08-06 Harris Corporation Robotic grasping device with multi-force sensing at base of fingers
US9605952B2 (en) * 2012-03-08 2017-03-28 Quality Manufacturing Inc. Touch sensitive robotic gripper
JP6111700B2 (ja) * 2013-01-30 2017-04-12 セイコーエプソン株式会社 ロボット制御方法、ロボット制御装置、ロボットおよびロボットシステム
CN104552291B (zh) * 2013-10-10 2018-05-18 精工爱普生株式会社 机器人控制装置、机器人系统、机器人以及机器人控制方法
JP6454960B2 (ja) * 2013-10-31 2019-01-23 セイコーエプソン株式会社 ロボット、ロボットシステム、ロボット制御装置
WO2018212189A1 (ja) * 2017-05-15 2018-11-22 Thk株式会社 把持システム
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
JP6634430B2 (ja) * 2017-11-27 2020-01-22 スキューズ株式会社 ロボットハンド及びロボットハンドの制御方法
JP6912415B2 (ja) * 2018-04-10 2021-08-04 ファナック株式会社 ハンド制御装置およびハンド制御システム
JP6988757B2 (ja) * 2018-09-26 2022-01-05 オムロン株式会社 エンドエフェクタおよびエンドエフェクタ装置
CN114206557B (zh) * 2019-07-23 2024-12-03 索尼集团公司 控制装置、控制方法和控制程序

Also Published As

Publication number Publication date
JP7678135B2 (ja) 2025-05-15
US20250018564A1 (en) 2025-01-16
EP4442411A4 (en) 2025-12-03
WO2023095928A1 (ja) 2023-06-01
EP4442411A1 (en) 2024-10-09
JPWO2023095928A1 (https=) 2023-06-01

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