KR102559105B9 - 로봇 손 시스템 및 로봇 손 제어 방법 - Google Patents

로봇 손 시스템 및 로봇 손 제어 방법

Info

Publication number
KR102559105B9
KR102559105B9 KR1020210140212A KR20210140212A KR102559105B9 KR 102559105 B9 KR102559105 B9 KR 102559105B9 KR 1020210140212 A KR1020210140212 A KR 1020210140212A KR 20210140212 A KR20210140212 A KR 20210140212A KR 102559105 B9 KR102559105 B9 KR 102559105B9
Authority
KR
South Korea
Prior art keywords
robotic hand
controlling
hand system
robotic
controlling robotic
Prior art date
Application number
KR1020210140212A
Other languages
English (en)
Other versions
KR20230056321A (ko
KR102559105B1 (ko
Inventor
박형순
허시환
Original Assignee
한국과학기술원
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 한국과학기술원 filed Critical 한국과학기술원
Priority to KR1020210140212A priority Critical patent/KR102559105B1/ko
Priority to US17/622,160 priority patent/US20230256618A1/en
Priority to PCT/KR2021/017622 priority patent/WO2023068440A1/ko
Publication of KR20230056321A publication Critical patent/KR20230056321A/ko
Application granted granted Critical
Publication of KR102559105B1 publication Critical patent/KR102559105B1/ko
Publication of KR102559105B9 publication Critical patent/KR102559105B9/ko

Links

Classifications

    • 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
    • B25J9/1612—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
    • 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
    • B25J13/084—Tactile sensors
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B2219/39527—Workpiece detector, sensor mounted in, near hand, gripper
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40408—Intention learning

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Health & Medical Sciences (AREA)
  • Manipulator (AREA)
KR1020210140212A 2021-10-20 2021-10-20 로봇 손 시스템 및 로봇 손 제어 방법 KR102559105B1 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1020210140212A KR102559105B1 (ko) 2021-10-20 2021-10-20 로봇 손 시스템 및 로봇 손 제어 방법
US17/622,160 US20230256618A1 (en) 2021-10-20 2021-11-26 Robotic hand system and method for controlling robotic hand
PCT/KR2021/017622 WO2023068440A1 (ko) 2021-10-20 2021-11-26 로봇 손 시스템 및 로봇 손 제어 방법

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020210140212A KR102559105B1 (ko) 2021-10-20 2021-10-20 로봇 손 시스템 및 로봇 손 제어 방법

Publications (3)

Publication Number Publication Date
KR20230056321A KR20230056321A (ko) 2023-04-27
KR102559105B1 KR102559105B1 (ko) 2023-07-26
KR102559105B9 true KR102559105B9 (ko) 2024-04-08

Family

ID=86059224

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020210140212A KR102559105B1 (ko) 2021-10-20 2021-10-20 로봇 손 시스템 및 로봇 손 제어 방법

Country Status (3)

Country Link
US (1) US20230256618A1 (ko)
KR (1) KR102559105B1 (ko)
WO (1) WO2023068440A1 (ko)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220131089A (ko) * 2021-03-19 2022-09-27 현대자동차주식회사 로봇용 관절 구조체 및 그 구조체를 포함하는 로봇

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101479232B1 (ko) * 2008-05-13 2015-01-06 삼성전자 주식회사 로봇과 로봇 핸드, 로봇 핸드의 제어 방법
CA2818256C (en) 2010-11-22 2019-04-16 Vanderbilt University Control system for a grasping device
US10609359B2 (en) 2016-06-22 2020-03-31 Intel Corporation Depth image provision apparatus and method
JP6676030B2 (ja) * 2017-11-20 2020-04-08 株式会社安川電機 把持システム、学習装置、把持方法、及び、モデルの製造方法
KR20200063353A (ko) * 2018-11-23 2020-06-05 강기준 카메라와 인공지능을 활용한 다기능 전자 의수 및 그 제어방법
KR102178013B1 (ko) * 2019-02-08 2020-11-12 한양대학교 산학협력단 물체 파지를 위한 훈련 데이터 생성 방법 및 파지 자세 결정 방법
US20210122045A1 (en) * 2019-10-24 2021-04-29 Nvidia Corporation In-hand object pose tracking

Also Published As

Publication number Publication date
KR20230056321A (ko) 2023-04-27
WO2023068440A1 (ko) 2023-04-27
US20230256618A1 (en) 2023-08-17
KR102559105B1 (ko) 2023-07-26

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Legal Events

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E701 Decision to grant or registration of patent right
G170 Re-publication after modification of scope of protection [patent]