JP7186349B2 - エンドエフェクタの制御システムおよびエンドエフェクタの制御方法 - Google Patents

エンドエフェクタの制御システムおよびエンドエフェクタの制御方法 Download PDF

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JP7186349B2
JP7186349B2 JP2021527533A JP2021527533A JP7186349B2 JP 7186349 B2 JP7186349 B2 JP 7186349B2 JP 2021527533 A JP2021527533 A JP 2021527533A JP 2021527533 A JP2021527533 A JP 2021527533A JP 7186349 B2 JP7186349 B2 JP 7186349B2
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end effector
work
control system
feature point
image
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JPWO2020261881A1 (https=
JPWO2020261881A5 (https=
Inventor
柚香 磯邉
吉成 松山
知之 八代
弘造 江澤
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Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • B25J9/1697—Vision controlled systems
    • 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
    • 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
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0483—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof with head identification means
    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2021527533A 2019-06-27 2020-06-01 エンドエフェクタの制御システムおよびエンドエフェクタの制御方法 Active JP7186349B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019120594 2019-06-27
JP2019120594 2019-06-27
PCT/JP2020/021555 WO2020261881A1 (ja) 2019-06-27 2020-06-01 エンドエフェクタの制御システムおよびエンドエフェクタの制御方法

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JPWO2020261881A1 JPWO2020261881A1 (https=) 2020-12-30
JPWO2020261881A5 JPWO2020261881A5 (https=) 2022-03-22
JP7186349B2 true JP7186349B2 (ja) 2022-12-09

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US (1) US20220111533A1 (https=)
JP (1) JP7186349B2 (https=)
CN (1) CN114025928A (https=)
WO (1) WO2020261881A1 (https=)

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CN114851208B (zh) * 2022-06-16 2024-02-02 梅卡曼德（北京）机器人科技有限公司 物体抓取方法以及用于抓取物体的系统
JPWO2024014080A1 (https=) * 2022-07-13 2024-01-18
CN116810845A (zh) * 2023-06-14 2023-09-29 中山大学 夹持装置、机械臂及工件的识别方法
CA3248431A1 (en) * 2023-07-17 2025-06-09 Macdonald, Dettwiler And Associates Inc. System, method, and device for gripping fragile or irregularly-shaped objects

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US20220111533A1 (en) 2022-04-14
JPWO2020261881A1 (https=) 2020-12-30
CN114025928A (zh) 2022-02-08
WO2020261881A1 (ja) 2020-12-30

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