CN118354879A - 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
CN118354879A
CN118354879A CN202280078892.XA CN202280078892A CN118354879A CN 118354879 A CN118354879 A CN 118354879A CN 202280078892 A CN202280078892 A CN 202280078892A CN 118354879 A CN118354879 A CN 118354879A
Authority
CN
China
Prior art keywords
hand
gripping
state
gripped
grip
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
CN202280078892.XA
Other languages
English (en)
Chinese (zh)
Inventor
大野一树
山岸友树
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 CN118354879A publication Critical patent/CN118354879A/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
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • 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
    • G05B2219/39532—Gripping force sensor build into finger

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)
CN202280078892.XA 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 CN118354879A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-193652 2021-11-29
JP2021193652 2021-11-29
PCT/JP2022/044047 WO2023095927A1 (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
CN118354879A true CN118354879A (zh) 2024-07-16

Family

ID=86539773

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280078892.XA Pending CN118354879A (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) US20250196334A1 (https=)
EP (1) EP4442410A4 (https=)
JP (1) JPWO2023095927A1 (https=)
CN (1) CN118354879A (https=)
WO (1) WO2023095927A1 (https=)

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04310388A (ja) * 1991-04-05 1992-11-02 Mitsubishi Electric Corp 物体把持装置および物体把持装置の制御方法
JP2003305678A (ja) 2002-04-11 2003-10-28 Ricoh Co Ltd ロボット及びロボットの制御方法
JP2004268160A (ja) * 2003-03-05 2004-09-30 Sharp Corp ロボットハンドおよびその制御方法
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
JP5698789B2 (ja) * 2013-04-18 2015-04-08 ファナック株式会社 ワークを搬送するロボットの制御装置
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
JP6869802B2 (ja) * 2017-05-11 2021-05-12 Ｎｉｓｓｈａ株式会社 物体検出センサ
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
JP2019188561A (ja) * 2018-04-27 2019-10-31 株式会社東芝 物品把持装置及び物品把持装置の制御装置
JP2020040159A (ja) * 2018-09-10 2020-03-19 株式会社東芝 情報処理装置、ピッキングロボットシステム、情報処理方法及び情報処理プログラム
JP7794641B2 (ja) * 2020-01-09 2026-01-06 ファナック株式会社 ワーク搬送システム

Also Published As

Publication number Publication date
EP4442410A4 (en) 2026-02-25
JPWO2023095927A1 (https=) 2023-06-01
US20250196334A1 (en) 2025-06-19
EP4442410A1 (en) 2024-10-09
WO2023095927A1 (ja) 2023-06-01

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