JP2009078310A5

JP2009078310A5 -

Info

Publication number: JP2009078310A5
Application number: JP2007247617A
Authority: JP
Filing date: 2007-09-25
Publication date: 2010-11-11

Claims

And multiple fingers,
A palm portion provided with the plurality of finger portions;
Provided in the palm portion, and a drive mechanism for drive the said fingers,
A camera provided on the palm,
A robot hand , wherein a contact position where at least two of the finger parts contact each other is located on an optical axis of the camera .

The robot hand according to claim 1 , wherein a focus position of the camera matches a contact position .

Further comprising control means for individually controlling the plurality of fingers based on the imaging result of the camera;
It said control means, said plurality of fingers, heart position among the plurality of the fingers and grasped object from the state moved to the imaging position capable by the camera, the grasped object and the optical axis of the camera The fingertips of the plurality of finger portions and the contour of the grasped object are equidistant on a line connecting the contact position and the advancing direction of the fingertips of the plurality of finger portions. The robot hand according to claim 1, wherein the holding operation is performed while holding the plurality of fingers.

4. The camera according to claim 1, wherein the camera is provided such that a gripping center where the fingertips of the plurality of finger portions contact is located on an optical axis of the camera. 5. Robot hand.

The robot hand according to claim 4, wherein the in-focus position coincides with the grip center.

The robot hand according to claim 1, wherein the robot hand is attached to a movable tip of an articulated robot.

The robot hand control method according to any one of claims 1 to 6 ,
The step of bending the finger portion and gripping the gripping object includes:
And said grasped object and said multiple finger imaged by the camera,
Based on the imaging result of the camera, said to measure the distance from the finger to the contact target position on which the said gripping target each fingertip is in contact,
The distance on the basis such that said multiple finger contacts simultaneously the grasped object, a control method of the robot hand, characterized in that to control the fingers of the multiple.

Wherein the front posture gripping the gripping target, may be held in advance in the control means a plurality of image information that associates a position and posture of the palm portion for gripping the gripping target in the posture,
Imaging the object to be held in front Symbol camera, by comparing the with the captured image of the plurality of image information, based on the most similar image information from the plurality of image information, the position and posture of the palm portion the determined moving the palm, combined with the gripping center of the contact position with the gripping target fingers of the multiple, comprising contacting the plurality of fingers at the same time the grasped object The method for controlling a robot hand according to claim 7 .

A control system for a robot hand according to any one of claims 1 to 6 ,
Wherein the image information of the previous posture gripping the gripping target, previously made to correspond to the hand control information associated position and the posture of the palm portion for gripping the gripping target posture according to the image information A stored storage device; and
Photographed with the grasped object and said plurality of fingers in front Symbol camera, the captured image by comparing the plurality of image information of the storage device, the most to the captured image from among the plurality of image information based on the approximate image data to determine the position and orientation of the palm, the palm portion is moved so that the determined attitude, the gripping center of the multiple fingers grasping after movement of the palm portion A control device that matches the gripping center of the object and causes the plurality of fingers to simultaneously contact the gripping object ;
A robot hand control system characterized by comprising:

A robot hand attached to the movable tip of an articulated robot,
A plurality of fingers that hold the object;
A drive mechanism that is provided on a palm part that movably connects the finger parts, and that drives the finger parts;
A camera that images the object disposed on the palm and gripped by the plurality of fingers.
The robot hand, wherein the camera is arranged such that a gripping center where the fingertips of the plurality of finger portions contact is positioned on an optical axis of the camera.

The robot hand according to claim 10, wherein a focus position of the camera coincides with the grip center.

The camera further comprises control means for individually controlling the plurality of finger portions based on the photographing result of the camera. From the moved state, the gripping center and the gripping center position of the object are moved to a matching position, and further, on the line connecting the gripping center and the advancing direction of the fingertips of the plurality of finger portions, The robot hand according to claim 10 or 11, wherein a gripping operation is performed while holding the plurality of finger parts so that a fingertip of a finger part and an outline of the object are equidistant.

A method for controlling a robot hand according to any one of claims 10 to 12,
The step of bending the finger portion and gripping the object includes
Imaging the object and the plurality of fingers with the camera,
Based on the imaging results of the camera, measure the separation distance from each fingertip to the contact target position on the object that each fingertip contacts,
A method of controlling a robot hand, wherein the plurality of finger parts are controlled based on the separation distance so that the plurality of fingertips simultaneously contact the object.

A plurality of pieces of image information in which the posture before gripping the object and the position and posture of the palm for gripping the object in the posture are held in the control unit in advance,
When grasping the object, the camera captures the object, compares the captured image with the plurality of image information, and based on the closest image information from the plurality of image information, The position and posture of the palm are determined, the palm is moved, and the grip center of the plurality of fingers and the grip center of the object are combined and gripped simultaneously. The robot hand control method described.

A robot hand control system according to any one of claims 10 to 12,
Hand control information in which the image information of the posture before gripping the object and the position and posture of the palm for gripping the object in the posture according to the image information is held in correspondence with each other. A storage device;
When gripping the object, the camera and the plurality of fingers are photographed by the camera, the photographed image is compared with the plurality of image information of the storage device, and the plurality of image information The position and posture of the palm are determined based on image information that is most similar to the captured image, and the palm is moved so that the determined posture is obtained, and the plurality of fingers are moved after the palm is moved. A control device for simultaneously gripping the gripping center of the object and the gripping center of the object;
A robot hand control system characterized by comprising: