DE112022004532T5 - Robotervorrichtung und steuerverfahren dafür - Google Patents
Robotervorrichtung und steuerverfahren dafür Download PDFInfo
- Publication number
- DE112022004532T5 DE112022004532T5 DE112022004532.9T DE112022004532T DE112022004532T5 DE 112022004532 T5 DE112022004532 T5 DE 112022004532T5 DE 112022004532 T DE112022004532 T DE 112022004532T DE 112022004532 T5 DE112022004532 T5 DE 112022004532T5
- Authority
- DE
- Germany
- Prior art keywords
- sensor
- finger
- parts
- axis direction
- detection
- 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
Links
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Images
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
- B25J13/084—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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2021-154873 | 2021-09-22 | ||
| JP2021154873 | 2021-09-22 | ||
| PCT/JP2022/009196 WO2023047630A1 (ja) | 2021-09-22 | 2022-03-03 | ロボット装置およびその制御方法 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DE112022004532T5 true DE112022004532T5 (de) | 2024-08-01 |
Family
ID=85720312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE112022004532.9T Pending DE112022004532T5 (de) | 2021-09-22 | 2022-03-03 | Robotervorrichtung und steuerverfahren dafür |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20250128425A1 (https=) |
| JP (1) | JPWO2023047630A1 (https=) |
| DE (1) | DE112022004532T5 (https=) |
| WO (1) | WO2023047630A1 (https=) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2024224877A1 (https=) * | 2023-04-25 | 2024-10-31 | ||
| CN120245070B (zh) * | 2025-05-22 | 2025-09-23 | 湖南骏捷智能科技有限公司 | 一种五轴上下料机器人及机械爪夹紧力自适应调节方法 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010207989A (ja) | 2009-03-11 | 2010-09-24 | Honda Motor Co Ltd | 対象物の把持システム及び同システムにおける干渉検出方法 |
| JP2012152870A (ja) | 2011-01-27 | 2012-08-16 | Hitachi Ltd | マニプレータ装置およびマニプレータ付き作業装置 |
Family Cites Families (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4588348A (en) * | 1983-05-27 | 1986-05-13 | At&T Bell Laboratories | Robotic system utilizing a tactile sensor array |
| US6408289B1 (en) * | 1993-06-11 | 2002-06-18 | Mri Devices Daum Gmbh | Shapeable elastic body with master unit and method of controlling |
| JP3448856B2 (ja) * | 1993-12-28 | 2003-09-22 | マツダ株式会社 | ロボットハンドの制御装置 |
| US5541485A (en) * | 1994-05-06 | 1996-07-30 | New York University | Reactive robotic gripper |
| WO2004028753A2 (en) * | 2002-09-26 | 2004-04-08 | Barrett Technology, Inc. | Intelligent, self-contained robotic hand |
| JP4137601B2 (ja) * | 2002-11-12 | 2008-08-20 | シャープ株式会社 | ロボットハンドの制御方法、ロボットハンド |
| JP2006305658A (ja) * | 2005-04-27 | 2006-11-09 | Sharp Corp | ロボットフィンガ |
| JP2009066683A (ja) * | 2007-09-11 | 2009-04-02 | Sony Corp | ロボットハンド及び制御方法、並びにプログラム |
| 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 |
| JP2010064155A (ja) * | 2008-09-08 | 2010-03-25 | Toyota Motor Corp | 把持装置 |
| 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 |
| CN104271322B (zh) * | 2012-03-08 | 2016-09-21 | 品质制造有限公司 | 触敏机器人抓手 |
| US10618174B2 (en) * | 2014-12-09 | 2020-04-14 | Aeolus Robotics, Inc. | Robotic Touch Perception |
| JP6778199B2 (ja) * | 2015-08-25 | 2020-10-28 | 川崎重工業株式会社 | 遠隔操作ロボットシステム |
| US9827670B1 (en) * | 2016-05-24 | 2017-11-28 | X Development Llc | Coaxial finger face and base encoding |
| JP7155479B2 (ja) * | 2017-05-15 | 2022-10-19 | Thk株式会社 | ハンド機構、把持システム、および把持プログラム |
| US11860048B2 (en) * | 2017-07-10 | 2024-01-02 | The Board Of Trustees Of The Leland Stanford Junior University | Capacitive and tactile sensors and related sensing methods |
| JP2019038077A (ja) * | 2017-08-25 | 2019-03-14 | Thk株式会社 | ハンド機構およびカバー |
| 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 |
| WO2021153700A1 (ja) * | 2020-01-31 | 2021-08-05 | ソニーグループ株式会社 | センサモジュールおよび電子機器 |
| JPWO2022085514A1 (https=) * | 2020-10-22 | 2022-04-28 |
-
2022
- 2022-03-03 US US18/689,124 patent/US20250128425A1/en active Pending
- 2022-03-03 DE DE112022004532.9T patent/DE112022004532T5/de active Pending
- 2022-03-03 WO PCT/JP2022/009196 patent/WO2023047630A1/ja not_active Ceased
- 2022-03-03 JP JP2023549334A patent/JPWO2023047630A1/ja active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010207989A (ja) | 2009-03-11 | 2010-09-24 | Honda Motor Co Ltd | 対象物の把持システム及び同システムにおける干渉検出方法 |
| JP2012152870A (ja) | 2011-01-27 | 2012-08-16 | Hitachi Ltd | マニプレータ装置およびマニプレータ付き作業装置 |
Also Published As
| Publication number | Publication date |
|---|---|
| US20250128425A1 (en) | 2025-04-24 |
| JPWO2023047630A1 (https=) | 2023-03-30 |
| WO2023047630A1 (ja) | 2023-03-30 |
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