JP2021130160A - Object gripping device - Google Patents

Abstract

To provide an object gripping device that can freely control a position and a posture of an object while gripping the object without diminishing the productivity.SOLUTION: An object gripping device for controlling a position and a posture of an object includes: a gripping module including a spherical gripping body coming into contact with an object and a drive part for rotating the gripping body about a first axis and a second axis that is orthogonal to the first axis; and a control unit for controlling motion of the gripping module. The first axis and/or the second axis have a variable direction.SELECTED DRAWING: Figure 1

Description

The present invention relates to, for example, an object gripping device provided at the tip of a manipulator and gripping an object.

Conventionally, as one of industrial robots, a manipulator that realizes a function equivalent to that of a human upper limb has been known. Various end effectors are attached to the tip of the manipulator depending on the application. For example, Patent Document 1 discloses a robot hand that grips an object by a plurality of gripping modules (finger mechanisms) as an example of an end factor (hereinafter, referred to as an "object gripping device"). According to the object gripping device disclosed in Patent Document 1, the posture of an object is changed by controlling the finger mechanism while adjusting the force acting on the object by using a plurality of bendable and stretchable finger mechanisms having joints. be able to.

Japanese Unexamined Patent Publication No. 2008-119770

However, in the object gripping device disclosed in Patent Document 1, since the degree of freedom of changing the posture of the object after gripping is one direction, it is necessary to change the holding of the object in order to change the posture of the object, and the productivity May decrease. Further, the structure of the finger mechanism having joints is complicated, and it is necessary to individually control the operation of a plurality of finger mechanisms, and the control process is also complicated.

An object of the present invention is to provide an object gripping device capable of freely controlling the position and posture of an object without reducing productivity while gripping the object.

The object gripping device according to the present invention is
An object gripping device that controls the position and orientation of an object.
A grip module that grips the object and
A control unit that controls the operation of the grip module is provided.
The grip module has a spherical grip that comes into contact with the object, and a drive unit that rotates the grip around a first axis and a second axis that is orthogonal to the first axis.
The direction of the first axis and / or the second axis is variable.

According to the present invention, the position and posture of the object can be freely controlled without reducing the productivity while holding the object.

1A and 1B are views showing an object gripping device according to an embodiment of the present invention. FIG. 2 is a diagram showing an example of a functional configuration of the control unit. FIG. 3 is a perspective view showing the overall configuration of the grip module. 4A and 4B are cross-sectional views showing the internal structure of the grip portion of the grip module. FIG. 5 is an exploded perspective view showing the internal structure of the grip portion of the grip module. 6A and 6B are views showing an example of the shape of the grip body. 7A to 7C are diagrams showing an example of the operation of the object gripping device. 8A-8C are diagrams showing another example of the operation of the object gripping device. 9A and 9B are diagrams showing an example of the moving operation of the gripping module in the object gripping device. 10A and 10B are diagrams showing another example of the moving operation of the gripping module in the object gripping device.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

1A and 1B are views showing an object gripping device A according to an embodiment of the present invention. FIG. 1B shows a state in which the object gripping device A is viewed from above (device base 2 side). The object gripping device A is used, for example, as an end effector attached to the tip of a manipulator.

As shown in FIGS. 1A and 1B, the object gripping device A includes a gripping module 1, a device base 2, and a control unit 3. The object gripping device A has a plurality of gripping modules 1 arranged so that the gripping bodies 10 face each other, and the object W is gripped between the plurality of gripping modules 1 to grip the object W. The position and posture can be changed. The object gripping device A may have at least one gripping module 1 and grip the object W between the gripping module 1 and the fixed body.

The device base 2 has a module mounting portion (reference numeral omitted) to which the gripping module 1 is mounted. The module mounting portion has, for example, a module moving portion (for example, a rail unit or the like) that changes the position of the gripping module 1 and a posture changing portion (for example, a joint unit or the like) that changes (tilts) the posture of the gripping module 1. , The grip module 1 is configured to be able to move as a whole or change its posture.

The control unit 3 controls each grip module 1, module moving unit, and posture changing unit, and changes the position and posture of the object W gripped by the grip module 1. The plurality of grip modules 1 can be driven independently of each other. The control unit 3 includes, for example, a CPU (Central Processing Unit) as a calculation / control device, a ROM (Read Only Memory) as a main storage device, a RAM (Random Access Memory), and the like. The operation of each gripping module 1 is independently controlled by the CPU reading a program according to the processing content from the ROM or the like, developing the program in the RAM, and executing the expanded program.

The control unit 3 controls the operation of the grip module 1 in cooperation with a control unit (not shown) of a manipulator that is built in the device base 2 and is equipped with the object grip device A, for example. As shown in FIG. 2, the control unit 3 is based on, for example, an object information acquisition unit 3A for acquiring the object information of the object W, a target posture acquisition unit 3B for acquiring the target posture, and the acquired initial posture and the target posture. It functions as an action plan generation unit 3C that generates an action plan of the grip module 1 and an action plan execution unit 3D that controls the operation of the grip module 1 based on the action plan.

The object information acquisition unit 3A acquires the shape, size, and initial posture (including the position) of the object W by analyzing the image captured by the camera C provided in the object gripping device 1, for example.
The target posture acquisition unit 3B uses, for example, the operation unit M of the manipulator to perform an input operation for setting the object W to the target posture (including the position), and the target posture acquisition unit 3B performs the input operation based on the operation information. Is analyzed to obtain the target posture of the object W. The operation information may be given as information indicating the target position or posture of the object W, or relative information for shifting the target W to the target position or posture (for example, moving distance or rotation angle). ) May be given.

The action plan generation unit 3C calculates the operation of the grip module 1 required to shift the posture of the object W from the initial posture to the target posture, and generates an action plan. The action plan includes, for example, the initial posture of the gripping module 1 when gripping the object W (the state of contact of the object W with the gripping surface), and the rotation direction of the gripping body 10 after gripping the object W. Includes rotation amount, rotation speed, etc. An action plan is generated for each grip module 1.
The action plan execution unit 3D outputs an operation signal based on the generated action plan to the grip module 1 and controls the operation of the grip module 1. The action plan may include not only the action plan of the gripping module 1 itself, but also the action plan of the module moving unit and the posture changing unit for changing the position and posture of the gripping module 1.

The gripping module 1 is a module for controlling the position and posture of the object W while gripping the object W (including the case of pressing and gripping the object W against a fixed body), and has two degrees of freedom. Specifically, the grip module 1 can freely change the position and posture of the object W by rotating the grip body 10 around the roll axis R (first axis) and the pitch axis P (second axis) that are orthogonal to each other. Can be changed to.

FIG. 3 is a perspective view showing the overall configuration of the grip module 1. 4A and 4B are cross-sectional views showing an internal structure of a grip portion of the grip module 1. FIG. 5 is an exploded perspective view showing the internal structure of the grip portion of the grip module 1.

As shown in FIGS. 3 to 5, the gripping module 1 includes a gripping body 10, a first driving unit 20, a second driving unit 30, a gripping auxiliary unit 50, and the like. The grip module 1 is adapted so that the direction of the pitch axis P changes as the grip body 10 rotates around the roll axis R.

The grip body 10 is a portion that comes into contact with the object W, and has a substantially spherical shape as a whole. Since the grip body 10 has a substantially spherical shape, the contact area with the object W to be gripped can be secured to the maximum.

The grip body 10 is made of a material (for example, rubber, plastic, or elastomer) that generates a frictional force with the object W to be gripped to such an extent that the posture of the object W can be changed. The inside of the grip body 10 is hollow, and a mechanism (a part of the second drive unit 30) for rotating the grip body 10 around the pitch axis P can be arranged inside.

That is, the grip body 10 is rotatably supported around the pitch axis P inside. As a result, the support mechanism of the gripping body 10 does not interfere with the object W, and the object can be gripped on almost the entire surface of the gripping body 10. Further, since the support mechanism of the grip body 10 is protected from an external force by the grip body 10, it is possible to prevent the operation of the grip body 10 from becoming unstable due to the intrusion of foreign matter or the like, and the stability is improved.

In the present embodiment, the grip body 10 is composed of a first grip body 11 and a second grip body 12 divided into two by a plane parallel to the roll axis R. The first grip body 11 and the second grip body 12 are attached so as to sandwich the grip body holding portion 222 of the support frame 22, which will be described later.
The first gripping body 11 and the second gripping body 12 have facing surfaces 11a and 12a (see FIGS. 6A and 6B) so that the gripping body 10 can rotate around the pitch axis P with the gripping body holding portion 222 sandwiched therein. Are arranged so as to be separated from each other. The peripheral surface of the grip body holding portion 222 of the support frame 22 is recessed from the peripheral surface of the grip body 10 in the separated portion 13 (hereinafter, referred to as “offset portion 13”) formed by the facing surfaces 11a and 12a. Located in the state. The belt 51 of the gripping auxiliary portion 50 is arranged on the offset portion 13.

The first grip body 11 and the second grip body 12 preferably have a symmetrical shape with respect to a plane passing through the roll axis R. In this case, the belt 51 of the gripping auxiliary portion 50 is arranged on the central axis of the support frame 22. As a result, the force applied when gripping the object W with the belt 51 is directly transmitted to the support frame 22 (grip body holding portion 222), so that twisting or shearing of the belt 51 can be suppressed. Stable grip and attitude control are possible.

Further, the first grip body 11 and the second grip body 12 may be formed so that the peripheral surface of the grip body 10 exhibits a true spherical shape when attached to the support frame 22 (see FIG. 6A), or they face each other. The peripheral surface of the grip body 10 may be formed so as to exhibit a true spherical shape when the surfaces 11a and 12a are brought into contact with each other (see FIG. 6B).
In particular, as shown in FIG. 6A, when the grip body 10 has a spherical shape as a whole, the distance from the intersection O of the roll axis R and the pitch axis P to the peripheral surface of the grip body 10 becomes constant. , The pressure applied to the object W does not change when the grip body 10 is rotated around the roll axis R and / or around the pitch axis P. Therefore, the gripping state of the object W is stable. Further, since the peripheral speed on the peripheral surface of the grip body 10 is constant, it is possible to reduce the calculation process for causing the grip body 10 to perform a desired operation.

The first drive unit 20 is a drive mechanism for rotating the grip body 10 around the roll axis R (first axis). The first drive unit 20 has a support frame 22 that receives power from the first drive source 21 and the first drive source 21 and rotates around the roll axis R. The first drive source 21 is composed of, for example, an electric motor, and power is transmitted to the support frame 22 via the motor belt 23.

The second drive unit 30 is a drive mechanism for rotating the grip body 10 around the pitch axis P (second axis). The second drive unit 30 rotates around the roll shaft R of the drive shaft 32 and the drive shaft 32 by receiving power from the second drive source 31 and the second drive source 31 around the pitch axis P. It has a power transmission direction changing unit 33 that is converted into rotation and transmitted to the grip body 10, and a driven shaft 34 that is fixed to the grip body 10 and rotates around the pitch axis P together with the grip body 10. The second drive source 31 is composed of, for example, an electric motor, and power is transmitted to the drive shaft 32 via the gear transmission mechanism 35.

The support frame 22 has a support main body portion 221 extending along the roll axis R, and a grip body holding portion 222 which is connected to one end of the support main body portion 221 and to which the grip body 10 is attached. The support main body portion 221 has a tubular shape, and a through hole 221a is formed along the roll axis R.

The drive shaft 32 is inserted into the through hole 221a of the support main body 221. One end of the drive shaft 32 is pivotally supported by, for example, a bearing 42 provided on the support frame 22, and the other end is, for example, a first drive source 21 and a second drive source 31. It is supported by a bearing portion (not shown) of the motor case. Further, the drive shaft 32 is supported by a bearing 41 arranged in the through hole 221a of the support main body 221. That is, the drive shaft 32 does not interfere with the operation of the support frame 22, and can rotate while maintaining the rotation position of the support frame 22 around the roll axis R.

The grip body holding portion 222 of the support frame 22 has a substantially disk shape. A protruding portion (reference numeral omitted) is provided on one surface of the grip body holding portion 222 so that the driven shaft 34 can be supported in a stable posture. Further, a through hole 222a is formed in the grip body holding portion 222 along the pitch axis P.

The driven shaft 34 is inserted into the through hole 222a of the grip body holding portion 222. Both ends of the driven shaft 34 are inserted and fixed to, for example, bosses (reference numerals) provided on the inner surfaces of the first gripping body 11 and the second gripping body 12. Further, the driven shaft 34 is supported by a bearing 43 arranged in the through hole 222a of the grip body holding portion 222. That is, the driven shaft 34 can rotate around the pitch axis P together with the grip body 10.

The power transmission direction changing unit 33 has, for example, a pinion gear 331 (drive side gear element) and a crown gear 332 (driven side gear element). The pinion gear 331 is fixed to the drive shaft 32 and rotates together with the drive shaft 32. The crown gear 332 is fixed to the grip body 10 (first grip body 11) and meshes with the pinion gear 331. In the present embodiment, the power transmission direction changing unit 33 is arranged inside the grip body 10.

In the grip module 1, when the second drive source 31 is driven and the drive shaft 32 rotates, the pinion gear 331 rotates around the roll axis R together with the drive shaft 32, and the crown gear 332 moves around the pitch axis P accordingly. Rotate. As a result, the grip body 10 to which the crown gear 332 is fixed rotates around the pitch axis P. At this time, since the rotation position of the support frame 22 around the roll axis R is held, the grip body 10 does not rotate around the roll axis R, but only around the pitch axis P. That is, when the grip body 10 is rotated around the pitch axis P, the control unit 3 controls only the second drive source 31.

On the other hand, when the first drive source 21 is driven and the support frame 22 rotates, the grip body 10 also rotates around the roll axis R together with the support frame 22. That is, the direction of the pitch axis P changes as the grip body 10 rotates around the roll axis 10. At this time, if the drive shaft 32 is not rotating, the crown gear 332 rotates around the roll axis R with respect to the stationary pinion gear 331, so that the crown gear 332 rotates around the pitch axis P. The grip body 10 rotates around the pitch axis P. Therefore, when the grip body 10 is rotated around the roll shaft R, the second drive source 31 holds the drive shaft 32 so that the relative positions of the pinion gear 331 and the crown gear 332 around the roll shaft R are maintained. Rotate. That is, when the grip body 10 is rotated around the roll axis R, the control unit 3 controls not only the first drive source 21 but also the second drive source 31. As a result, the grip body 10 can be rotated around the roll axis R while maintaining the rotation position around the pitch axis P.

As described above, in the gripping module 1, the gripping body 10 has an offset portion 13, and a part of the gripping surface (the surface in contact with the object W) of the gripping body 10 is discontinuous. Therefore, due to the rotation of the grip body 10 around the roll axis R, there may be a case where the gripping contact point with the object W does not exist on the pressure line for gripping the object W. In this case, it becomes difficult to stably control the posture of the object W. In the present embodiment, such a problem is solved by providing the gripping assisting portion 50.

The gripping assisting portion 50 assists in gripping the object W in the offset portion 13 of the gripping body 10. The gripping auxiliary portion 50 includes a belt 51, a drive roller 52, a driven roller 53, a power branch portion 54, and the like. The drive roller 52 and the driven roller 53 are rotatably attached to, for example, a roller support portion 55 provided on the support frame 22.

The belt 51 has an arc shape of the grip body holding portion 222 of the support frame 22 so that the grip surface of the belt 51 and the peripheral surface of the grip body 10 are substantially flush with the offset portion 13 formed on the grip body 10. It is arranged along the peripheral surface of. As a result, the discontinuity of the gripping surface of the gripping body 10 is eliminated. The gripping surface of the belt 51 may slightly bulge from the offset portion 13.

In the present embodiment, the belt 51 is composed of an endless belt, is wound around a driving roller 52 and a driven roller 53, and is arranged in a double manner on the peripheral surface of the grip body holding portion 222. The belt 51 follows the rotation of the drive roller 52 and travels along the peripheral surface of the support frame 22 (grip body holding portion 222). That is, an endless track is applied to the gripping auxiliary portion 50, and the drive roller 52 constitutes a belt drive portion for traveling the belt 51.

The power branch portion 54 is a power transmission unit for connecting the drive shaft 32 and the drive roller 52 to branch the power of the second drive source 31 and transmit the power to the drive roller 52. For example, the power branch portion 54 has a plurality of gear elements. .. As the drive shaft 32 rotates, the drive roller 52 rotates and the belt 51 travels. The belt 51 is controlled so that the drive timing, drive direction, and peripheral speed are the same with respect to the rotation of the grip body 10 around the pitch axis P. That is, the belt 51 travels so as to synchronize with the rotation of the grip body 10 around the pitch axis P accompanying the rotation of the drive shaft 32. As a result, the differential component when the grip body 10 and the belt 51 are driven at the same time becomes almost zero, so that the grip contact crosses the grip body 10 and the belt 51 while controlling the attitude of the object W. Even if it becomes, the crossing can be smoothly performed, and unexpected posture change and damage to the object W can be suppressed.

The belt 51 may be controlled to travel only when the gripping surface of the belt 51 serves as a gripping contact point with the object W. As a result, it is possible to reduce the power consumption when controlling the posture of the object W.

In the present embodiment, the second drive source 31 also serves as a drive source for the belt drive unit that runs the belt 51. As a result, the belt 51 can be driven with a simple configuration, and since it is not necessary to secure a power supply path for driving and a signal path for control, the configuration of the grip module 1 can be simplified and the size is small. Can be achieved.

Here, it is preferable that the belt 51 has a coefficient of dynamic friction and a coefficient of static friction equivalent to those of the gripping body 10. As a result, the discontinuity of the gripping contacts in contact with the object W can be eliminated, and when the posture of the object W is controlled, even if the gripping contacts cross from the grip body 10 to the belt 51, the frictional force suddenly increases. It does not change, and it is possible to prevent unexpected changes such as sliding of the object W and posture.

By having the above-described configuration, the object gripping device A can change the position and posture of the object W in various ways. The object gripping device A, for example, has a first operation of moving the object W gripped by the gripping module 1 in the horizontal direction, a second operation of moving the object W in the vertical direction, and rotating the object W on the spot. A third operation can be performed. Further, the object gripping device A can freely control the position and posture of the object W, such as moving the object W while rotating it by combining the first to third operations.

7A to 7C are diagrams showing an example of the operation of the object gripping device A. 7A to 7C show a case where the two gripping modules 1 are vertically arranged so that the roll axis R of each gripping module 1 and the gripping surface of the object W are parallel to each other.

FIG. 7A shows the first operation by the object gripping device A. That is, the object gripping device A drives the first driving unit 20 in the gripping module 1 that grips the object W, and the gripping body 10 around the roll axis R (in the present embodiment, the gripping module 1 Rotate the whole). As a result, the object W can be moved in the horizontal direction orthogonal to the roll axis R.

FIG. 7B shows the second operation by the object gripping device A. That is, the object gripping device A is in a state where the posture of the gripping module 1 is adjusted so that the pitch axis P is also parallel to the gripping surface of the object W in the gripping module 1 gripping the object W. The drive unit 30 is driven to rotate the grip body 10 around the pitch axis P. As a result, the object W can be moved in the vertical direction orthogonal to the pitch axis P.

FIG. 7C shows a third operation by the object gripping device A. That is, the object gripping device A second drives the gripping module 1 that grips the object W in a state where the posture of the gripping module 1 is adjusted so that the pitch axis P is orthogonal to the gripping surface of the object W. The portion 30 is driven to rotate the grip body 10 around the pitch axis P. As a result, the object W can be rotated around the pitch axis P while maintaining the position.

Further, the first to third operations by the object gripping device A described above can also be realized in the modes shown in FIGS. 8A to 8C. 8A to 8C show a case where the two gripping modules 1 are arranged horizontally so that the roll axis R of each gripping module 1 and the gripping surface of the object W are orthogonal to each other.

FIG. 8A shows the first operation by the object gripping device A. That is, the object gripping device A drives the second drive unit 30 in the gripping module 1 gripping the object W in a state where the posture of the gripping module 1 is adjusted so that the pitch axis P is vertical. , Rotate the grip 10 around the pitch axis P. As a result, the object W can be moved in the horizontal direction orthogonal to the pitch axis P.

FIG. 8B shows the second operation by the object gripping device A. That is, the object gripping device A drives the second drive unit 30 in the gripping module 1 gripping the object W in a state where the posture of the gripping module 1 is adjusted so that the pitch axis P is horizontal. , Rotate the grip 10 around the pitch axis P. As a result, the object W can be moved in the vertical direction orthogonal to the pitch axis P.

FIG. 8C shows a third operation by the object gripping device A. That is, the object gripping device A drives the first driving unit 20 in the gripping module 1 that grips the object W, and the gripping body 10 around the roll axis R (in the present embodiment, the gripping module 1 Rotate the whole). As a result, the object W can be rotated around the roll axis R while maintaining the position.

Further, in the object gripping device A, since the gripping module 1 is configured to be able to move or change the posture as a whole, it can correspond to an object W having various shapes and sizes and gripped. The position and posture of the object W can be changed as it is.

For example, as shown in FIG. 9A, when the object W is gripped by the three grip modules 1, by approaching or separating the grip modules 1 that abut on the same grip surface, the objects W of various lengths can be obtained. Can be accommodated.
Further, as shown in FIG. 9B, when the object W is gripped by the three grip modules 1, the objects W having various widths are brought close to each other or separated from each other by sandwiching the object W. Can be accommodated.

Further, for example, as shown in FIGS. 10A and 10B, it is possible to handle the case where the two gripping modules 1 grip the object W whose gripping surface is inclined. 10A and 10B show a case where the object W whose width becomes narrower toward the upper side is moved vertically downward. In this case, as the object W is moved vertically downward, the grip modules 1 are brought closer to each other, so that the target portion W can be appropriately moved while maintaining the gripped state.

As described above, the object gripping device A according to the present embodiment is an object gripping device that controls the position and posture of the object W, and operates the gripping module 1 that grips the object W and the gripping module 1. A control unit 3 for controlling is provided. The gripping module 1 rotates the gripping body 10 around a spherical gripping body 10 in contact with the object W, a roll axis R (first axis), and a pitch axis P (second axis) orthogonal to the roll axis R. It has a first drive unit 20 and a second drive unit 30 (drive unit), and the directions of the roll axis R and the pitch axis P are variable.

As a result, the posture of the object W can be freely controlled on the tangent plane where the grip body 10 and the object W come into contact with each other without reducing the productivity while the object W is being gripped by the grip body 10. can. For example, the object W can be moved by controlling the postures of the plurality of gripping modules 1 provided in the object gripping device A and controlling the rotation direction, the amount of rotation, and the rotation speed of the gripping bodies 10 of the respective gripping modules 1. It can be made to change its posture.

Although the invention made by the present inventor has been specifically described above based on the embodiment, the present invention is not limited to the above embodiment and can be changed without departing from the gist thereof.

For example, the specific configuration of the grip module 1 is not limited to the configuration described in the embodiment. That is, if the gripping module 1 has a gripping body 10 that is rotatable around a roll axis (first axis) and a pitch axis (second axis), and the direction of the roll axis and / or the direction of the pitch axis is variable. Just do it.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Grip module 2 Device base 3 Control unit 3A Object information acquisition unit 3B Target posture acquisition unit 3C Action plan generation unit 3D Action plan execution unit 10 Grip body 20 First drive unit (drive unit)
30 Second drive unit (drive unit)
A Object gripping device R Roll axis (1st axis)
P pitch axis (second axis)

Claims (8)

An object gripping device that controls the position and orientation of an object.
A grip module that grips the object and
A control unit that controls the operation of the grip module is provided.
The grip module has a spherical grip that comes into contact with the object, and a drive unit that rotates the grip around a first axis and a second axis that is orthogonal to the first axis.
An object gripping device in which the directions of the first axis and / or the second axis are variable. The object gripping device according to claim 1, wherein the direction of the second axis changes with the rotation of the gripping body around the first axis. A plurality of the gripping modules are arranged so that the gripping bodies face each other.
The object gripping device according to claim 1, wherein the object is sandwiched between the gripping modules. The object gripping device according to claim 3, wherein the plurality of gripping modules are arranged so that the gripping surface of the object and the first axis are parallel to each other. The object gripping device according to claim 3, wherein the plurality of gripping modules are arranged so that the gripping surface of the object and the first axis are orthogonal to each other. The object gripping device according to any one of claims 3 to 5, wherein the plurality of gripping modules can be driven independently. The object gripping device according to any one of claims 1 to 6, wherein the gripping module can change its position and posture. The control unit
An object information acquisition unit that acquires object information of an object,
The target posture acquisition unit that acquires the target posture of the object, and
An action plan generation unit that generates an action plan for the grip module based on the object information and the target posture.
The object gripping device according to any one of claims 1 to 7, further comprising an action plan execution unit that controls the operation of the gripping module based on the action plan.

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