JP7086531B2 - ロボットハンド、ロボット装置、ロボットハンドの制御方法、物品の製造方法、制御プログラム及び記録媒体 - Google Patents

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

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Publication number
JP7086531B2
JP7086531B2 JP2017098718A JP2017098718A JP7086531B2 JP 7086531 B2 JP7086531 B2 JP 7086531B2 JP 2017098718 A JP2017098718 A JP 2017098718A JP 2017098718 A JP2017098718 A JP 2017098718A JP 7086531 B2 JP7086531 B2 JP 7086531B2
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Prior art keywords
robot hand
moment
load
force
detecting means
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Japanese (ja)
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JP2018192568A (ja
JP2018192568A5 (enExample
Inventor
秀忠 浅野
修一 佐藤
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Canon Inc
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Canon Inc
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Priority to JP2017098718A priority Critical patent/JP7086531B2/ja
Priority to US15/978,910 priority patent/US11267126B2/en
Priority to EP18172668.8A priority patent/EP3403774B1/en
Priority to CN201810478299.XA priority patent/CN108942917B/zh
Publication of JP2018192568A publication Critical patent/JP2018192568A/ja
Publication of JP2018192568A5 publication Critical patent/JP2018192568A5/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
    • B25J15/0009—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
    • B25J9/16—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
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
    • 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
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39409—Design of gripper, hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39466—Hand, gripper, end effector of manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39486—Fingered hand, multifingered hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39505—Control of gripping, grasping, contacting force, force distribution
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39528—Measuring, gripping force sensor build into hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39555—Revolver with several grippers, hands
    • 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
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • 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
    • Y10S901/32—Servo-actuated
    • Y10S901/33—Tactile sensor
    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
JP2017098718A 2017-05-18 2017-05-18 ロボットハンド、ロボット装置、ロボットハンドの制御方法、物品の製造方法、制御プログラム及び記録媒体 Active JP7086531B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2017098718A JP7086531B2 (ja) 2017-05-18 2017-05-18 ロボットハンド、ロボット装置、ロボットハンドの制御方法、物品の製造方法、制御プログラム及び記録媒体
US15/978,910 US11267126B2 (en) 2017-05-18 2018-05-14 Robot hand, robot apparatus, and control method for robot hand
EP18172668.8A EP3403774B1 (en) 2017-05-18 2018-05-16 Robot hand, robot apparatus, and control method for robot hand
CN201810478299.XA CN108942917B (zh) 2017-05-18 2018-05-18 机器人手、机器人装置、机器人手的控制方法和存储介质

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JP2017098718A JP7086531B2 (ja) 2017-05-18 2017-05-18 ロボットハンド、ロボット装置、ロボットハンドの制御方法、物品の製造方法、制御プログラム及び記録媒体

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JP2018192568A5 JP2018192568A5 (enExample) 2020-07-02
JP7086531B2 true JP7086531B2 (ja) 2022-06-20

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US (1) US11267126B2 (enExample)
EP (1) EP3403774B1 (enExample)
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WO2019238940A1 (en) * 2018-06-15 2019-12-19 Universal Robots A/S Estimation of payload attached to a robot arm
JP7085736B2 (ja) * 2019-02-28 2022-06-17 国立大学法人東北大学 ロボットハンド
JP7052917B2 (ja) * 2019-03-22 2022-04-12 オムロン株式会社 ロボットハンド、ロボットハンド制御方法及びプログラム
US11312581B2 (en) * 2019-04-16 2022-04-26 Abb Schweiz Ag Object grasp system and method
CN110549331B (zh) * 2019-07-16 2024-05-03 浙江工业大学 精密孔轴自动装配的方法和设备
US12280491B2 (en) 2019-07-23 2025-04-22 Sony Group Corporation Control device, control method, and control program
US11701776B2 (en) 2019-10-25 2023-07-18 Dexterity, Inc. Robotic kitting machine
US20240173857A1 (en) * 2020-01-22 2024-05-30 Abb Schweiz Ag System and method for controlling the robot, electronic device and computer readable medium
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JP2022023737A (ja) 2020-07-27 2022-02-08 トヨタ自動車株式会社 ロータの組立方法及びロータ組立装置の制御装置
CN113427484B (zh) * 2021-05-24 2022-11-22 国电南瑞科技股份有限公司 一种配网带电作业自适应抓取引流线装置及方法
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JP2024111683A (ja) * 2023-02-06 2024-08-19 株式会社日立製作所 ロボットの制御方法及びシステム
CN116329456B (zh) * 2023-04-06 2024-03-15 东莞辉科机器人自动化股份有限公司 摆臂锻压机械手
JP2025012130A (ja) * 2023-07-12 2025-01-24 新東工業株式会社 力情報表示装置
CN117103233B (zh) * 2023-10-19 2024-01-16 深圳市钧诚精密制造有限公司 一种机械加工用可调节式机械手
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Publication number Publication date
US20180333858A1 (en) 2018-11-22
CN108942917A (zh) 2018-12-07
EP3403774A1 (en) 2018-11-21
US11267126B2 (en) 2022-03-08
EP3403774B1 (en) 2023-01-11
JP2018192568A (ja) 2018-12-06
CN108942917B (zh) 2022-12-20

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