JP6313559B2 - ロボットグリッパー及びその制御方法 - Google Patents
ロボットグリッパー及びその制御方法 Download PDFInfo
- Publication number
- JP6313559B2 JP6313559B2 JP2013196734A JP2013196734A JP6313559B2 JP 6313559 B2 JP6313559 B2 JP 6313559B2 JP 2013196734 A JP2013196734 A JP 2013196734A JP 2013196734 A JP2013196734 A JP 2013196734A JP 6313559 B2 JP6313559 B2 JP 6313559B2
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- Prior art keywords
- heavy object
- contact portion
- horizontal
- vertical
- robot gripper
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 33
- 238000000926 separation method Methods 0.000 claims description 11
- 238000009795 derivation Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/31—Gripping jaw
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Description
400 : 下部接触部 500 : センサー部
700 : 制御部
Claims (7)
- ロボットの両腕の端部にそれぞれ設けられ、把持の際に重量物の上面と下面にそれぞれ接触し、一定の半径を有する球面に形成された上部接触部及び下部接触部、
前記上部接触部と下部接触部それぞれに設けられて重量物の把持の際に上部接触部又は下部接触部に加えられる垂直方向又は水平方向の加圧力を測定するセンサー部、及び
重量物の把持の際の両腕端部の垂直方向及び水平方向の隔離距離の三角関数によって算出される重量物の傾き角と、それぞれのセンサー部で測定された垂直方向の加圧力成分を利用して、重量物の重量の中心が両腕端部の間の中央に位置しているか判断する制御部、を含むロボットグリッパー。 - 前記制御部は、重量の中心が両腕端部の間の中央に位置しない場合、重量物と上部接触部又は下部接触部の間に作用する摩擦力を導出し、これを水平分力と比較することを特徴とする請求項1に記載のロボットグリッパー。
- 請求項1に記載のロボットグリッパーを制御する方法であって、
重量物を把持する把持段階、
両腕端部の垂直方向及び水平方向の隔離距離の三角関数から重量物の傾き角を測定する測定段階、及び
前記重量物の傾き角とそれぞれのセンサー部で測定された垂直方向の加圧力成分を利用して重量物の重量の中心から両腕端部それぞれへの水平距離を算出する算出段階を含むロボットグリッパー制御方法。 - 前記算出段階は、それぞれの水平距離が同一であるか判断する判断段階をさらに含むことを特徴とする請求項3に記載のロボットグリッパー制御方法。
- 前記判断段階は、それぞれの水平距離が同一でない場合、重量物と上部接触部又は下部接触部の間に作用する摩擦力を導出する導出段階をさらに含むことを特徴とする請求項4に記載のロボットグリッパー制御方法。
- 前記導出段階は、重量物の傾き角とセンサー部で測定された垂直方向及び水平方向の加圧力成分を利用して垂直分力と水平分力を求め、垂直分力を利用して摩擦力を導出することを特徴とする請求項5に記載のロボットグリッパー制御方法。
- 前記導出段階は、導出された摩擦力と水平分力を比較する比較段階をさらに含むことを特徴とする請求項6に記載のロボットグリッパー制御方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2012-0154474 | 2012-12-27 | ||
KR1020120154474A KR101438971B1 (ko) | 2012-12-27 | 2012-12-27 | 로봇그리퍼 및 그 제어방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014128869A JP2014128869A (ja) | 2014-07-10 |
JP6313559B2 true JP6313559B2 (ja) | 2018-04-18 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2013196734A Active JP6313559B2 (ja) | 2012-12-27 | 2013-09-24 | ロボットグリッパー及びその制御方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8903550B2 (ja) |
JP (1) | JP6313559B2 (ja) |
KR (1) | KR101438971B1 (ja) |
CN (1) | CN103895010B (ja) |
DE (1) | DE102013111014B4 (ja) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
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KR101575487B1 (ko) * | 2014-06-11 | 2015-12-08 | 현대자동차주식회사 | 로봇의 대상물 무게 및 무게중심 산출시스템 및 그 제어방법 |
CN107108047A (zh) * | 2014-08-26 | 2017-08-29 | 有效空间解决方案有限公司 | 用于卫星的对接系统和方法 |
US9381645B1 (en) | 2014-12-08 | 2016-07-05 | Amazon Technologies, Inc. | System for automating manipulation of items |
EP3164706B1 (de) * | 2015-03-20 | 2018-01-31 | Uster Technologies AG | Garnprüfgerät mit einer garneinführungsvorrichtung |
US10014205B2 (en) * | 2015-12-14 | 2018-07-03 | Kawasaki Jukogyo Kabushiki Kaisha | Substrate conveyance robot and operating method thereof |
GB201601880D0 (en) * | 2016-02-02 | 2016-03-16 | Ocado Innovation Ltd | Robotic gripping device system and method |
CN106737747B (zh) * | 2017-01-10 | 2020-04-28 | 广东工业大学 | 一种机器人双臂自平衡方法及机器人 |
CN108555895B (zh) * | 2017-12-29 | 2021-12-07 | 日照市越疆智能科技有限公司 | 拿取方法、拿取结构和智能机械臂 |
JP2019155542A (ja) * | 2018-03-14 | 2019-09-19 | 株式会社東芝 | 搬送装置、搬送システム、コントローラ、および搬送方法 |
JP7028092B2 (ja) * | 2018-07-13 | 2022-03-02 | オムロン株式会社 | 把持姿勢評価装置及び把持姿勢評価プログラム |
CN109335709B (zh) * | 2018-09-28 | 2023-12-15 | 江苏派远软件开发有限公司 | 一种儿童玩具检测用码垛机器人控制系统 |
JP7136729B2 (ja) * | 2019-03-20 | 2022-09-13 | ファナック株式会社 | ロボットを用いて負荷の重量及び重心位置を推定するための装置、方法、プログラム、制御装置及びロボットシステム |
KR102419377B1 (ko) * | 2022-03-21 | 2022-07-12 | 주흘이엔지 주식회사 | 안정적인 폴 지지 기능을 갖는 측지측량용 장비 |
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US8565378B2 (en) * | 2005-05-06 | 2013-10-22 | Deutsches Krebsforschungszentrum Stiftung Des Oeffentlichen Rechts | Method and device for defining a beam of high-energy rays |
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2012
- 2012-12-27 KR KR1020120154474A patent/KR101438971B1/ko active IP Right Grant
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2013
- 2013-03-18 US US13/846,902 patent/US8903550B2/en active Active
- 2013-09-24 JP JP2013196734A patent/JP6313559B2/ja active Active
- 2013-09-29 CN CN201310455926.5A patent/CN103895010B/zh active Active
- 2013-10-04 DE DE102013111014.2A patent/DE102013111014B4/de active Active
Also Published As
Publication number | Publication date |
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JP2014128869A (ja) | 2014-07-10 |
DE102013111014A1 (de) | 2014-07-03 |
KR20140085701A (ko) | 2014-07-08 |
US20140188277A1 (en) | 2014-07-03 |
KR101438971B1 (ko) | 2014-09-15 |
CN103895010A (zh) | 2014-07-02 |
CN103895010B (zh) | 2017-06-30 |
US8903550B2 (en) | 2014-12-02 |
DE102013111014B4 (de) | 2019-05-29 |
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