JP7678135B2 - 制御装置、ロボット制御システム、及びロボット制御方法 - Google Patents

制御装置、ロボット制御システム、及びロボット制御方法 Download PDF

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Publication number
JP7678135B2
JP7678135B2 JP2023563786A JP2023563786A JP7678135B2 JP 7678135 B2 JP7678135 B2 JP 7678135B2 JP 2023563786 A JP2023563786 A JP 2023563786A JP 2023563786 A JP2023563786 A JP 2023563786A JP 7678135 B2 JP7678135 B2 JP 7678135B2
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Japan
Prior art keywords
hand
finger
contact
gripping
unit
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JP2023563786A
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English (en)
Japanese (ja)
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JPWO2023095928A5 (https=
JPWO2023095928A1 (https=
Inventor
友樹 山岸
一樹 大野
尚宏 阿南
敬之 石田
博昭 宮村
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Kyocera Corp
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Kyocera Corp
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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
    • B25J13/08—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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • B25J9/1612—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position 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
    • G05B2219/39322—Force and position 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
    • G05B2219/39505—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
    • G05B2219/39519—Concurrent grasp, all forces converge in one point
    • 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
    • G05B2219/39532—Gripping force sensor build into finger
    • 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
    • G05B2219/39542—Plan grasp points, grip matrix and initial grasp force

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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)
  • Manipulator (AREA)
JP2023563786A 2021-11-29 2022-11-29 制御装置、ロボット制御システム、及びロボット制御方法 Active JP7678135B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021193651 2021-11-29
JP2021193651 2021-11-29
PCT/JP2022/044048 WO2023095928A1 (ja) 2021-11-29 2022-11-29 制御装置、ロボット制御システム、及びロボット制御方法

Publications (3)

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JPWO2023095928A1 JPWO2023095928A1 (https=) 2023-06-01
JPWO2023095928A5 JPWO2023095928A5 (https=) 2024-08-09
JP7678135B2 true JP7678135B2 (ja) 2025-05-15

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Country Link
US (1) US20250018564A1 (https=)
EP (1) EP4442411A4 (https=)
JP (1) JP7678135B2 (https=)
CN (1) CN118317855A (https=)
WO (1) WO2023095928A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024126302A (ja) * 2023-03-07 2024-09-20 本田技研工業株式会社 操作制御方法、操作制御装置、及びプログラム

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009066714A (ja) 2007-09-13 2009-04-02 Sony Corp 制御装置および方法、プログラム並びに記録媒体
JP2011224695A (ja) 2010-04-19 2011-11-10 Toyota Motor Corp ロボットの把持制御システム及びロボット
JP2012011531A (ja) 2010-07-05 2012-01-19 Yaskawa Electric Corp ロボット装置およびロボット装置による把持方法
US20120239195A1 (en) 2011-03-17 2012-09-20 Harris Corporation Robotic grasping device with multi-force sensing at base of fingers
JP2014144526A (ja) 2013-01-30 2014-08-14 Seiko Epson Corp ロボット制御方法、ロボット制御装置、ロボットおよびロボットシステム
JP2015085455A (ja) 2013-10-31 2015-05-07 セイコーエプソン株式会社 ロボット、ロボットシステム、ロボット制御装置
WO2018212189A1 (ja) 2017-05-15 2018-11-22 Thk株式会社 把持システム
JP2020049581A (ja) 2018-09-26 2020-04-02 オムロン株式会社 エンドエフェクタおよびエンドエフェクタ装置

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4715773A (en) * 1985-06-04 1987-12-29 Clemson University Method and apparatus for repositioning a mislocated object with a robot hand
JP3742876B2 (ja) 2002-02-25 2006-02-08 国立大学法人岐阜大学 ロボットハンド及びロボットハンドの握り込み制御方法、並びにロボット及びロボットの制御方法
JP4890199B2 (ja) * 2006-11-09 2012-03-07 本田技研工業株式会社 ロボットハンドおよびロボット
US9605952B2 (en) * 2012-03-08 2017-03-28 Quality Manufacturing Inc. Touch sensitive robotic gripper
CN104552291B (zh) * 2013-10-10 2018-05-18 精工爱普生株式会社 机器人控制装置、机器人系统、机器人以及机器人控制方法
JP6640792B2 (ja) * 2017-06-30 2020-02-05 ファナック株式会社 ハンド制御装置、ハンド制御方法、およびハンドのシミュレーション装置
JP6634430B2 (ja) * 2017-11-27 2020-01-22 スキューズ株式会社 ロボットハンド及びロボットハンドの制御方法
JP6912415B2 (ja) * 2018-04-10 2021-08-04 ファナック株式会社 ハンド制御装置およびハンド制御システム
CN114206557B (zh) * 2019-07-23 2024-12-03 索尼集团公司 控制装置、控制方法和控制程序

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009066714A (ja) 2007-09-13 2009-04-02 Sony Corp 制御装置および方法、プログラム並びに記録媒体
JP2011224695A (ja) 2010-04-19 2011-11-10 Toyota Motor Corp ロボットの把持制御システム及びロボット
JP2012011531A (ja) 2010-07-05 2012-01-19 Yaskawa Electric Corp ロボット装置およびロボット装置による把持方法
US20120239195A1 (en) 2011-03-17 2012-09-20 Harris Corporation Robotic grasping device with multi-force sensing at base of fingers
JP2014144526A (ja) 2013-01-30 2014-08-14 Seiko Epson Corp ロボット制御方法、ロボット制御装置、ロボットおよびロボットシステム
JP2015085455A (ja) 2013-10-31 2015-05-07 セイコーエプソン株式会社 ロボット、ロボットシステム、ロボット制御装置
WO2018212189A1 (ja) 2017-05-15 2018-11-22 Thk株式会社 把持システム
JP2020049581A (ja) 2018-09-26 2020-04-02 オムロン株式会社 エンドエフェクタおよびエンドエフェクタ装置

Also Published As

Publication number Publication date
US20250018564A1 (en) 2025-01-16
CN118317855A (zh) 2024-07-09
EP4442411A4 (en) 2025-12-03
WO2023095928A1 (ja) 2023-06-01
EP4442411A1 (en) 2024-10-09
JPWO2023095928A1 (https=) 2023-06-01

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