JP7289616B2 - 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 - 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 Download PDF

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Publication number
JP7289616B2
JP7289616B2 JP2018082456A JP2018082456A JP7289616B2 JP 7289616 B2 JP7289616 B2 JP 7289616B2 JP 2018082456 A JP2018082456 A JP 2018082456A JP 2018082456 A JP2018082456 A JP 2018082456A JP 7289616 B2 JP7289616 B2 JP 7289616B2
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JP
Japan
Prior art keywords
finger
robot
gripping
robot hand
abnormality
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JP2018082456A
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English (en)
Japanese (ja)
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JP2019010723A (ja
JP2019010723A5 (enExample
Inventor
学 梅山
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
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Canon Inc
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Publication of JP2019010723A5 publication Critical patent/JP2019010723A5/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • 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
    • B25J15/0009—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
    • 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
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • 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
    • 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
    • G05B2219/39491—Each finger controlled by a controller

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2018082456A 2017-06-30 2018-04-23 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 Active JP7289616B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017129349 2017-06-30
JP2017129349 2017-06-30

Publications (3)

Publication Number Publication Date
JP2019010723A JP2019010723A (ja) 2019-01-24
JP2019010723A5 JP2019010723A5 (enExample) 2021-06-17
JP7289616B2 true JP7289616B2 (ja) 2023-06-12

Family

ID=64734602

Family Applications (1)

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JP2018082456A Active JP7289616B2 (ja) 2017-06-30 2018-04-23 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

Country Status (2)

Country Link
US (1) US11027424B2 (enExample)
JP (1) JP7289616B2 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3744484B1 (en) * 2018-01-23 2023-07-05 Sony Group Corporation Information processing device, information processing method, and information processing system
JP6937260B2 (ja) * 2018-03-19 2021-09-22 株式会社東芝 把持制御装置、把持システム、およびプログラム
US11934159B2 (en) * 2018-10-30 2024-03-19 Aspentech Corporation Apparatus and methods for non-invasive closed loop step testing with controllable optimization relaxation
JP7247572B2 (ja) * 2018-12-17 2023-03-29 京セラドキュメントソリューションズ株式会社 制御装置
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
CN111532767A (zh) * 2020-04-27 2020-08-14 顾伟国 一种机械加工用的成品快速转运机构
US11833666B2 (en) * 2020-10-28 2023-12-05 Shanghai Flexiv Robotics Technology Co., Ltd. Method for assembling an operating member and an adapting member by a robot, robot, and controller
US12023103B2 (en) * 2022-08-25 2024-07-02 Ix Innovation Llc 3D printing of structures inside a patient
CN120056117B (zh) * 2025-03-14 2025-10-03 北京因时机器人科技有限公司 一种灵巧手保护方法及装置

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005349492A (ja) 2004-06-08 2005-12-22 Sharp Corp ロボットハンド
JP2006102920A (ja) 2004-10-08 2006-04-20 Fanuc Ltd 把握型ハンド
JP2007222971A (ja) 2006-02-22 2007-09-06 Nissan Motor Co Ltd ロボットハンドとロボットハンドのフィンガー交換装置
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
JP2012055999A (ja) 2010-09-07 2012-03-22 Canon Inc 物体把持システム、物体把持方法、プログラム、およびロボットシステム
JP2012139808A (ja) 2011-01-06 2012-07-26 Seiko Epson Corp ロボットハンド
JP2012236247A (ja) 2011-05-11 2012-12-06 Seiko Epson Corp ロボットハンド及びロボット
JP2016022557A (ja) 2014-07-22 2016-02-08 本田技研工業株式会社 ハンドの制御装置
JP2016144863A (ja) 2015-01-30 2016-08-12 キヤノン株式会社 ロボット装置、交換装置、およびロボットシステム
WO2016201418A1 (en) 2015-06-11 2016-12-15 Soft Robotics, Inc. Modular robotic systems

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4858974A (en) * 1988-05-02 1989-08-22 Stannek Karl H Robotic gripper head
JPH08336788A (ja) * 1995-06-09 1996-12-24 Kubota Corp ロボットハンド
JP3400229B2 (ja) * 1996-02-29 2003-04-28 川崎製鉄株式会社 穿孔プラグの着脱装置
US6913627B2 (en) * 2000-12-06 2005-07-05 Honda Giken Kogyo Kabushiki Kaisha Multi-finger hand device
JP3809524B2 (ja) 2002-09-12 2006-08-16 独立行政法人 宇宙航空研究開発機構 スペースデブリ軌道変換用テザー装置
JP2008207263A (ja) 2007-02-23 2008-09-11 Matsushita Electric Works Ltd ロボットハンド
JP2011240422A (ja) 2010-05-17 2011-12-01 Seiko Epson Corp ロボットハンド、およびロボット
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
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
JP2015168039A (ja) 2014-03-07 2015-09-28 ファナック株式会社 対象物を保持するロボットハンド、ロボット、ロボットシステム、および対象物を保持する方法
US9844885B2 (en) * 2015-11-27 2017-12-19 Tamkang University Gripping device having opened and closed gripping modes

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005349492A (ja) 2004-06-08 2005-12-22 Sharp Corp ロボットハンド
JP2006102920A (ja) 2004-10-08 2006-04-20 Fanuc Ltd 把握型ハンド
JP2007222971A (ja) 2006-02-22 2007-09-06 Nissan Motor Co Ltd ロボットハンドとロボットハンドのフィンガー交換装置
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
JP2012055999A (ja) 2010-09-07 2012-03-22 Canon Inc 物体把持システム、物体把持方法、プログラム、およびロボットシステム
JP2012139808A (ja) 2011-01-06 2012-07-26 Seiko Epson Corp ロボットハンド
JP2012236247A (ja) 2011-05-11 2012-12-06 Seiko Epson Corp ロボットハンド及びロボット
JP2016022557A (ja) 2014-07-22 2016-02-08 本田技研工業株式会社 ハンドの制御装置
JP2016144863A (ja) 2015-01-30 2016-08-12 キヤノン株式会社 ロボット装置、交換装置、およびロボットシステム
WO2016201418A1 (en) 2015-06-11 2016-12-15 Soft Robotics, Inc. Modular robotic systems

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JP2019010723A (ja) 2019-01-24
US11027424B2 (en) 2021-06-08
US20190001491A1 (en) 2019-01-03

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