JP5105147B2 - ロボットおよび制御方法 - Google Patents

ロボットおよび制御方法 Download PDF

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Publication number
JP5105147B2
JP5105147B2 JP2007097255A JP2007097255A JP5105147B2 JP 5105147 B2 JP5105147 B2 JP 5105147B2 JP 2007097255 A JP2007097255 A JP 2007097255A JP 2007097255 A JP2007097255 A JP 2007097255A JP 5105147 B2 JP5105147 B2 JP 5105147B2
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Japan
Prior art keywords
finger
driving means
finger driving
robot
extension
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Active
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JP2007097255A
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English (en)
Japanese (ja)
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JP2008149444A (ja
JP2008149444A5 (enExample
Inventor
研司 松熊
高幸 中村
和彦 横山
和浩 福留
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Yaskawa Electric Corp
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Yaskawa Electric 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 Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Priority to JP2007097255A priority Critical patent/JP5105147B2/ja
Priority to PCT/JP2008/055635 priority patent/WO2008123271A1/ja
Priority to TW097112030A priority patent/TWI432299B/zh
Publication of JP2008149444A publication Critical patent/JP2008149444A/ja
Priority to US12/562,081 priority patent/US7950710B2/en
Priority to US13/089,320 priority patent/US8549952B2/en
Publication of JP2008149444A5 publication Critical patent/JP2008149444A5/ja
Application granted granted Critical
Publication of JP5105147B2 publication Critical patent/JP5105147B2/ja
Active legal-status Critical Current
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    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
JP2007097255A 2006-08-28 2007-04-03 ロボットおよび制御方法 Active JP5105147B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2007097255A JP5105147B2 (ja) 2006-08-28 2007-04-03 ロボットおよび制御方法
PCT/JP2008/055635 WO2008123271A1 (ja) 2007-04-03 2008-03-26 ロボットおよび制御方法
TW097112030A TWI432299B (zh) 2007-04-03 2008-04-02 robot
US12/562,081 US7950710B2 (en) 2007-04-03 2009-09-17 Robot
US13/089,320 US8549952B2 (en) 2007-04-03 2011-04-19 Robot and method for controlling the robot

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP2006230362 2006-08-28
JP2006230362 2006-08-28
JP2006316513 2006-11-24
JP2006316513 2006-11-24
JP2007097255A JP5105147B2 (ja) 2006-08-28 2007-04-03 ロボットおよび制御方法

Publications (3)

Publication Number Publication Date
JP2008149444A JP2008149444A (ja) 2008-07-03
JP2008149444A5 JP2008149444A5 (enExample) 2011-06-02
JP5105147B2 true JP5105147B2 (ja) 2012-12-19

Family

ID=39652192

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2007097255A Active JP5105147B2 (ja) 2006-08-28 2007-04-03 ロボットおよび制御方法

Country Status (4)

Country Link
US (2) US7950710B2 (enExample)
JP (1) JP5105147B2 (enExample)
TW (1) TWI432299B (enExample)
WO (1) WO2008123271A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102550237B1 (ko) 2022-08-25 2023-06-30 성균관대학교산학협력단 터치패드 기반의 손가락 벤딩 센서 장치 및 이를 이용한 로봇 핸드 파지 제스처 제어 방법

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Publication number Priority date Publication date Assignee Title
KR102550237B1 (ko) 2022-08-25 2023-06-30 성균관대학교산학협력단 터치패드 기반의 손가락 벤딩 센서 장치 및 이를 이용한 로봇 핸드 파지 제스처 제어 방법

Also Published As

Publication number Publication date
US7950710B2 (en) 2011-05-31
JP2008149444A (ja) 2008-07-03
TWI432299B (zh) 2014-04-01
US8549952B2 (en) 2013-10-08
US20110192247A1 (en) 2011-08-11
WO2008123271A1 (ja) 2008-10-16
US20100010670A1 (en) 2010-01-14
TW200902259A (en) 2009-01-16

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