JP6995602B2 - ロボットハンド、ロボットハンドの制御方法、ロボット装置、物品の製造方法、制御プログラムおよび記録媒体 - Google Patents

ロボットハンド、ロボットハンドの制御方法、ロボット装置、物品の製造方法、制御プログラムおよび記録媒体 Download PDF

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Publication number
JP6995602B2
JP6995602B2 JP2017239915A JP2017239915A JP6995602B2 JP 6995602 B2 JP6995602 B2 JP 6995602B2 JP 2017239915 A JP2017239915 A JP 2017239915A JP 2017239915 A JP2017239915 A JP 2017239915A JP 6995602 B2 JP6995602 B2 JP 6995602B2
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Japan
Prior art keywords
robot hand
control unit
control
fingers
robot
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JP2017239915A
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English (en)
Japanese (ja)
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JP2019104099A5 (enExample
JP2019104099A (ja
Inventor
真路 上野
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
Original Assignee
Canon Inc
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 Canon Inc filed Critical Canon Inc
Priority to JP2017239915A priority Critical patent/JP6995602B2/ja
Priority to US16/217,512 priority patent/US11192263B2/en
Priority to CN201811531652.2A priority patent/CN109955279B/zh
Publication of JP2019104099A publication Critical patent/JP2019104099A/ja
Publication of JP2019104099A5 publication Critical patent/JP2019104099A5/ja
Application granted granted Critical
Publication of JP6995602B2 publication Critical patent/JP6995602B2/ja
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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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • 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
    • 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
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • 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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2017239915A 2017-12-14 2017-12-14 ロボットハンド、ロボットハンドの制御方法、ロボット装置、物品の製造方法、制御プログラムおよび記録媒体 Active JP6995602B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2017239915A JP6995602B2 (ja) 2017-12-14 2017-12-14 ロボットハンド、ロボットハンドの制御方法、ロボット装置、物品の製造方法、制御プログラムおよび記録媒体
US16/217,512 US11192263B2 (en) 2017-12-14 2018-12-12 Robot hand and control method for the robot hand
CN201811531652.2A CN109955279B (zh) 2017-12-14 2018-12-14 机器人手、其控制方法、物品的组装方法及存储介质

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017239915A JP6995602B2 (ja) 2017-12-14 2017-12-14 ロボットハンド、ロボットハンドの制御方法、ロボット装置、物品の製造方法、制御プログラムおよび記録媒体

Publications (3)

Publication Number Publication Date
JP2019104099A JP2019104099A (ja) 2019-06-27
JP2019104099A5 JP2019104099A5 (enExample) 2021-01-28
JP6995602B2 true JP6995602B2 (ja) 2022-01-14

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JP2017239915A Active JP6995602B2 (ja) 2017-12-14 2017-12-14 ロボットハンド、ロボットハンドの制御方法、ロボット装置、物品の製造方法、制御プログラムおよび記録媒体

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Country Link
US (1) US11192263B2 (enExample)
JP (1) JP6995602B2 (enExample)
CN (1) CN109955279B (enExample)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2020360B1 (en) * 2018-01-31 2019-08-07 Besi Netherlands Bv Handler device for handling substrates
CN110988526B (zh) * 2019-11-21 2021-01-29 珠海格力电器股份有限公司 一种机器人装配检查方法、装置及存储介质
JP7608292B2 (ja) * 2021-08-13 2025-01-06 株式会社東芝 ロボットハンド、ハンドリングシステム、ロボットハンド制御装置、ロボットハンドの制御方法、プログラム、及び記憶媒体
JP7754481B2 (ja) * 2021-09-13 2025-10-15 株式会社人機一体 ロボットのハンド機構
FR3128656B1 (fr) * 2021-11-04 2024-01-19 Commissariat Energie Atomique Préhenseur
CN118876071B (zh) * 2024-09-27 2025-02-21 深圳市兆威机电股份有限公司 灵巧手控制方法、装置、灵巧手及计算机可读存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009148846A (ja) 2007-12-19 2009-07-09 Tokyo Institute Of Technology 把持機構
JP2010172970A (ja) 2009-01-27 2010-08-12 Yaskawa Electric Corp 多指ハンドおよびマニピュレータ装置
JP2013000853A (ja) 2011-06-20 2013-01-07 Canon Inc ロボットハンド
JP2013052456A (ja) 2011-09-01 2013-03-21 Canon Inc ロボット
JP2017164832A (ja) 2016-03-14 2017-09-21 キヤノン株式会社 ロボットハンド、ロボットハンドの制御プログラム、およびロボット装置

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JP2006102920A (ja) * 2004-10-08 2006-04-20 Fanuc Ltd 把握型ハンド
US20060293615A1 (en) * 2005-06-10 2006-12-28 Valero-Cuevas Francisco J Device and method for quantifying and extracting sensorimotor circuitry
WO2009096239A1 (ja) * 2008-01-30 2009-08-06 Honda Motor Co., Ltd. タイヤ組付装置、タイヤ組付方法、作業装置及び作業方法
KR101674894B1 (ko) * 2009-12-21 2016-11-10 삼성전자 주식회사 산업용 다자유도 그리퍼
CN102821918A (zh) * 2010-03-24 2012-12-12 株式会社安川电机 机器人手和机器人装置
JP2012166297A (ja) * 2011-02-14 2012-09-06 Seiko Epson Corp ロボットハンド及びロボット装置
CN103917338B (zh) * 2011-11-09 2016-01-20 株式会社安川电机 机器人手和机器人
JP5929215B2 (ja) * 2012-01-17 2016-06-01 セイコーエプソン株式会社 ロボットハンド及びロボット装置
JP6111589B2 (ja) * 2012-10-11 2017-04-12 セイコーエプソン株式会社 ロボットハンド、ロボット装置及びロボットハンドの製造方法
US9004559B2 (en) * 2012-11-09 2015-04-14 Irobot Corporation Compliant underactuated grasper
JP2015226968A (ja) * 2014-06-02 2015-12-17 セイコーエプソン株式会社 ロボット、ロボットシステム、制御装置、及び制御方法
CN105710878A (zh) * 2016-04-29 2016-06-29 深圳博美德机器人股份有限公司 机械抓手

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009148846A (ja) 2007-12-19 2009-07-09 Tokyo Institute Of Technology 把持機構
JP2010172970A (ja) 2009-01-27 2010-08-12 Yaskawa Electric Corp 多指ハンドおよびマニピュレータ装置
JP2013000853A (ja) 2011-06-20 2013-01-07 Canon Inc ロボットハンド
JP2013052456A (ja) 2011-09-01 2013-03-21 Canon Inc ロボット
JP2017164832A (ja) 2016-03-14 2017-09-21 キヤノン株式会社 ロボットハンド、ロボットハンドの制御プログラム、およびロボット装置

Also Published As

Publication number Publication date
US11192263B2 (en) 2021-12-07
CN109955279B (zh) 2022-10-28
JP2019104099A (ja) 2019-06-27
US20190184580A1 (en) 2019-06-20
CN109955279A (zh) 2019-07-02

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