WO2018212203A1 - 把持システム - Google Patents
把持システム Download PDFInfo
- Publication number
- WO2018212203A1 WO2018212203A1 PCT/JP2018/018818 JP2018018818W WO2018212203A1 WO 2018212203 A1 WO2018212203 A1 WO 2018212203A1 JP 2018018818 W JP2018018818 W JP 2018018818W WO 2018212203 A1 WO2018212203 A1 WO 2018212203A1
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- WO
- WIPO (PCT)
- Prior art keywords
- finger
- exposed
- contact
- gripping
- contactable
- Prior art date
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Classifications
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- 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
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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
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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
- B25J15/08—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
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- 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
Definitions
- the present invention relates to a gripping system for gripping an object by a hand mechanism having at least two fingers.
- Patent Document 1 discloses a technique related to an end effector using an adsorption device that adsorbs an object by suction.
- the end effector has three fingers. Each finger rotates by a plurality of actuators, and the proximal phalanx, the first middle phalanx, the second middle phalanx, and the distal phalanx rotate. Driven or driven by relative refraction. In this way, each finger part is driven with multiple degrees of freedom, so that the suction device provided on each finger part is brought close to the target object along the normal direction of the surface of the target object. The suction effect can be applied to the object.
- Patent Document 2 discloses an end effector having three fingers, in which an object is gripped using two or three fingers.
- FIG. 24 of Patent Document 2 shows a gripping form in which a key is sandwiched between two fingers
- FIG. 29 shows a gripping form in which a ball is gripped by three fingers.
- Patent Document 2 also discloses a technique in which two fingers cooperate to hold a relatively flat object. For example, in the gripping configuration shown in FIGS. 30A and 30B, the side edge of the key placed on a plane is sandwiched, and the key is pivoted while one side edge is captured between the plate member and the pad. The gripping is performed by starting up and sandwiching the key between the end faces of the two fingers.
- the hand mechanism When an object is to be gripped by the hand mechanism, it is necessary to place the finger part of the hand mechanism with respect to the object so that the object is sandwiched. Therefore, when there is no space for placing the finger part around the object, or when the predetermined surface of the object that the finger part contacts to hold with the finger part is not exposed, the hand mechanism It becomes difficult to grip the object. For example, in a state where a plurality of objects of the same type are placed side by side in a container or the like, if an object is to be gripped one by one, the adjacent object or container is obstructed by the hand mechanism. Grasping the object can be difficult.
- a gripping device including a suction device that sucks a target object widely is used.
- a suction device it is necessary to prepare the suction device according to the shape, structure, etc. of the target in order to appropriately apply the suction force to the target.
- the versatility is greatly hindered.
- the suction force by the suction device may be difficult to act or the trace of the suction may remain, and it has not yet been possible to provide a highly versatile gripping system.
- the present invention has been made in view of the above-described problems, and is a highly versatile gripping that enables gripping of an object without being affected as much as possible by the situation where the object is arranged.
- the purpose is to provide a system.
- the unexposed part that is not exposed so that the finger part can be contacted for grasping by the hand mechanism.
- the hand mechanism is controlled so that the object can be gripped. This makes it possible to realize gripping that is less susceptible to the influence of the above.
- the present invention is a gripping system for gripping an object by a hand mechanism having at least two fingers, and the fingers of the hand mechanism are brought into contact with each other when gripping the object.
- a determination unit that determines whether or not a predetermined gripping part is exposed, and at least one finger part when the determination unit determines that the predetermined gripping part is not exposed.
- the contactable part of the object that can be contacted by the first finger part and the second finger part different from the first finger part or the first finger part when exposed by the determination part are exposed.
- a non-exposed portion that is not exposed, and a position or posture of the object is changed while contacting the contactable portion with the first finger portion, and the first finger portion or the second finger So that the part can contact the non-exposed part of the object
- a first operation control unit that exposes the non-exposed part; and the first finger part or the second finger part is brought into contact with the non-exposed part in a state where the non-exposed part is exposed by the first operation control unit.
- a second motion control unit that grips the object by bringing a finger other than the finger that is in contact with the non-exposed part into contact with a predetermined surface of the object other than the non-exposed part.
- the gripping system of the present invention is a system that grips an object using a hand mechanism having at least two fingers.
- the structure (position and number of joints, the shape and number of link mechanisms, etc. constituting the finger part) of each finger part may be formed differently.
- toe parts may be formed identically.
- toe part can employ
- the determination unit determines the presence or absence of the predetermined gripping unit.
- the predetermined gripping portion is a portion that enables gripping by the finger portion of the hand mechanism on the surface of the object. Therefore, if a predetermined gripping part is exposed on the object, the finger of the hand mechanism comes into contact with the predetermined gripping part, and the target object can be gripped. Means that. Such gripping using the predetermined gripping part is hereinafter referred to as “direct gripping”. Therefore, in such a case, the hand mechanism can hold the target object with its finger part without changing the position or posture of the target object.
- the predetermined gripping part is a part that enables gripping from the paired direction by the finger part of the hand mechanism on the surface of the object, for example.
- the “pairing directions” are two directions in which the directions in contact with the object are preferably 180 degrees opposite to each other in order to stably hold the object. As long as the object can be gripped, the direction in contact with the object may be appropriately shifted.
- the specifying process of the contactable part and the non-exposed part by the specifying part is performed.
- the contactable part is a part exposed on the surface of the object so that the first finger part of the hand mechanism can be contacted.
- the non-exposed part is a part of the surface of the object that is not exposed so that the first finger part or the second finger part of the hand mechanism can be contacted at the time of the determination by the determination part. This is a part that can be used for gripping by the fingers of the hand mechanism.
- the non-exposed part is a part that can be used for grasping an object when the non-exposed state is eliminated and the finger part of the hand mechanism can be contacted.
- specification of the contactable part and the non-exposed part by the specifying part can be specified using information on the shape and dimensions of the object, information on how to arrange the objects, information on the periphery of the object, and the like. Further, these pieces of information may be provided to the gripping system in advance, or each piece of information can be obtained using an imaging result obtained by an imaging apparatus such as a camera.
- the first finger is brought into contact with the contactable part by the first operation control part, and the position of the object or The posture is changed, and as a result, the non-exposed portion is exposed.
- the first operation control unit causes the object to be tilted, shifted in position, or rotated, so that the first finger unit or the second finger unit of the hand mechanism cannot be contacted.
- the part is exposed, and a state in which contact by the first finger part or the second finger part is possible is formed. Therefore, in such a state that the non-exposed portion is exposed, the second operation control unit makes contact with the non-exposed portion of the first finger portion or the second finger portion and makes contact with the non-exposed portion.
- the predetermined surface may be a surface of an object different from the non-exposed part, for example, may be a surface of the object generally facing the non-exposed part, or may be the above-described accessible part.
- the finger part that contacts the predetermined surface may be a finger part (third finger part) different from the first finger part and the second finger part, or alternatively, the first finger part itself. Also good. In the latter case, the contactable portion with which the first finger portion is in contact corresponds to the predetermined surface.
- the state in which the object is arranged is a state in which direct gripping is difficult
- the position of the object and the unexposed portion are exposed by the first motion control unit.
- the posture is changed, and as a result, the grasped object is grasped by using the non-exposed portion that has reached the exposed state. That is, it is possible to realize stable gripping of the target object by changing the position and posture so that the target object can be gripped so as to expose the non-exposed portion.
- the versatility of the gripping system can be extremely high.
- the object can be gripped without being affected as much as possible by the situation where the object is arranged.
- FIG. 1 It is a figure which shows schematic structure of the robot arm which concerns on an Example. It is a perspective view of the hand mechanism which concerns on an Example. It is a top view of the hand mechanism which concerns on an Example. It is a side view of the finger
- FIG. 6 is a first diagram for explaining tilting gripping performed by the hand mechanism according to the first embodiment. It is the 2nd figure for demonstrating the tilting holding
- FIG. 6 is a first diagram for explaining tilting gripping performed by the hand mechanism according to the first embodiment. It is the 2nd figure for demonstrating the tilting holding
- FIG. 10 is a third diagram for explaining tilting gripping performed by the hand mechanism according to the first embodiment.
- FIG. 10 is a fourth diagram for explaining tilting gripping performed by the hand mechanism according to the first embodiment.
- FIG. 10 is a fifth diagram for explaining tilt gripping performed by the hand mechanism according to the first embodiment. It is a figure for demonstrating the tilting grip performed with the hand mechanism which concerns on the modification 1 of Example 1.
- FIG. It is a figure for demonstrating the tilting grip performed with the hand mechanism which concerns on the modification 2 of Example 1.
- FIG. FIG. 10 is a first diagram for explaining tilt gripping performed by the hand mechanism according to the second embodiment. It is the 2nd figure for demonstrating the tilting grip performed with the hand mechanism which concerns on Example 2.
- FIG. FIG. 10 is a third diagram for explaining tilting gripping performed by the hand mechanism according to the first embodiment.
- FIG. 10 is a fourth diagram for explaining tilting gripping performed by the hand mechanism according to the first embodiment.
- FIG. 10 is a fifth diagram for explaining tilt
- FIG. 10A is a first diagram for explaining shifting gripping performed by the hand mechanism according to the third embodiment. It is the 2nd figure for demonstrating the shift holding
- FIG. It is a figure for demonstrating the rotation holding
- FIG. It is a figure for demonstrating the floating grip performed with the hand mechanism which concerns on Example 5.
- FIG. It is the 1st figure for demonstrating the other implementation method of the floating grip performed with the hand mechanism which concerns on Example 5.
- FIG. It is a figure for demonstrating the horizontal shift holding
- FIG. 10A is a first diagram for explaining horizontal shift gripping performed by a hand mechanism according to a modified example of the sixth embodiment.
- FIG. 10B is a second diagram for explaining horizontal shift gripping performed by a hand mechanism according to a modified example of the sixth embodiment.
- FIG. 1 is a diagram illustrating a schematic configuration of a robot arm 1 according to the present embodiment.
- the robot arm 1 includes a hand mechanism 2, an arm mechanism 3, and a pedestal portion 4.
- a hand mechanism 2 is attached to one end of the arm mechanism 3.
- the other end of the arm mechanism 3 is attached to the pedestal portion 4.
- the hand mechanism 2 includes a base portion 20 connected to the arm mechanism 3 and four finger portions 21 provided on the base portion 20. The detailed configuration of the hand mechanism 2 will be described later.
- the arm mechanism 3 includes a first arm link portion 31, a second arm link portion 32, a third arm link portion 33, a fourth arm link portion 34, a fifth arm link portion 35, and a connection member 36.
- the base portion 20 of the hand mechanism 2 is connected to a first joint portion 30 a formed on one end side of the first arm link portion 31 of the arm mechanism 3.
- the first joint portion 30 a is provided with a motor (not shown) for rotating the hand mechanism 2 around the axis of the first arm link portion 31 with respect to the first arm link portion 31.
- the other end side of the first arm link portion 31 is connected to one end side of the second arm link portion 32 at the second joint portion 30b.
- the first arm link part 31 and the second arm link part 32 are connected so that their central axes intersect perpendicularly.
- a motor for rotating the first arm link part 31 around the axis of the second arm link part 32 around the other end side with respect to the second arm link part 32 is provided in the second joint part 30b. (Not shown) is provided.
- the other end side of the second arm link portion 32 is connected to one end side of the third arm link portion 33 at the third joint portion 30 c, and the third joint portion 30 c is connected to the third arm link portion 33.
- a motor (not shown) for relatively rotating the second arm link portion 32 is provided.
- the other end side of the third arm link portion 33 is connected to one end side of the fourth arm link portion 34 by the fourth joint portion 30d, and the other end side of the fourth arm link portion 34 is connected to the fifth joint portion.
- the part 30e is connected to the fifth arm link part 35.
- the fourth joint portion 30d is provided with a motor (not shown) for rotating the third arm link portion 33 relative to the fourth arm link portion 34.
- the fifth joint portion 30e is provided with a motor (not shown) for rotating the fourth arm link portion 34 relative to the fifth arm link portion 35.
- the fifth arm link portion 35 is connected to a connection member 36 disposed vertically from the pedestal portion 4 by a sixth joint portion 30f.
- the fifth arm link portion 35 and the connection member 36 are connected so that their central axes are coaxial.
- the sixth joint portion 30f is provided with a motor (not shown) for rotating the fifth arm link portion 35 around the axes of the fifth arm link portion 35 and the connection member 36.
- FIG. 2 is a perspective view of the hand mechanism 2.
- FIG. 3 is a top view of the hand mechanism 2.
- the four fingers 21 on the base 20 are centered on the axis in the longitudinal direction of the hand mechanism 2 (the direction perpendicular to the paper surface in FIG. 3). Are arranged at equiangular intervals (ie, 90 deg intervals).
- the four finger portions 21 all have the same structure and the same length. However, the operation of each finger 21 is controlled independently.
- FIG. 4 to 10 are diagrams for explaining the configuration of the finger portion 21 of the hand mechanism 2 and its driving mechanism.
- FIG. 4 is a side view of the finger part 21.
- the base portion 20 is shown in a transparent state, and a part of the internal structure of the finger portion 21 located inside the base portion 20 is also shown.
- FIG. 5 is a view of the distal end side of the finger portion 21 as viewed from the direction of arrow A in FIG.
- the finger part 21 has a first finger link part 211, a second finger link part 212, and a base end part 213.
- the base end portion 213 of the finger portion 21 is connected to the base portion 20.
- the base end portion 213 is connected to the base portion 20 so as to be rotatable about the longitudinal axis of the finger portion 21 (direction perpendicular to the paper surface in FIG. 3) with respect to the base portion 20, as indicated by an arrow in FIG. Yes.
- one end of the second finger link part 212 is connected to the base end part 213.
- a second joint portion 23 is formed at a connection portion between the second finger link portion 212 and the base end portion 213.
- FIG. 6 is a diagram illustrating an internal structure of the base portion 20 in the vicinity of the connection portion of the finger portion 21 and an internal structure of the proximal end portion 213 and the second joint portion 23 in the finger portion 21.
- the base portion 20 is connected to the gear 65 connected to the rotation shaft of the base end portion 213 and the rotation shaft of the third motor 53, which rotates the entire finger portion 21.
- a gear 66 is provided. The gear 65 and the gear 66 are engaged with each other. With such a configuration, when the third motor 53 rotates, the rotational force is transmitted to the rotation shaft of the base end portion 213 via the two gears 65 and 66. That is, the entire finger portion 21 can be rotationally driven by the third motor 53.
- FIG. 7 is a diagram illustrating a movable range of the second joint portion 23 in the finger portion 21 realized by the driving force of the second motor 52. As shown in FIG. 7, the second joint portion 23 is formed to be able to bend and extend.
- FIG. 8 is a diagram illustrating an internal structure of the first joint portion 22 and the second finger link portion 212 in the finger portion 21.
- Two bevel gears 61 and 62 that are fitted to each other are provided inside the first joint portion 22.
- One bevel gear 61 is connected to the rotation shaft of the first finger link portion 211 in the first joint portion 22.
- the other bevel gear 62 is connected to the rotation shaft of the first motor 51 provided inside the second finger link portion 212.
- FIG. 9 is a diagram illustrating a movable range of the first joint portion 22 in the finger portion 21 realized by the driving force of the first motor 51. As shown in FIG. 9, the first joint portion 22 is formed to be able to bend and extend.
- the finger portion 21 has a base more than the first joint portion 22 than the first finger link portion 211 on the distal end side of the first joint portion 22.
- the second finger link part 212 on the part 20 side is longer.
- a pressure-sensitive sensor 70 is provided on the distal end side of the first finger link portion 211 of the finger portion 21.
- the pressure sensor 70 is a sensor that detects an external force (pressure) acting on the distal end side of the first finger link portion 211.
- the pressure-sensitive sensors 70 are provided on both surfaces of the wall surface 215 on the bending direction side and the wall surface 216 on the extension direction side of the first joint portion 22 on the distal end side of the first finger link portion 211. ing.
- the wall surface 215 on the bending direction side of the first joint portion 22 on the distal end side of the first finger link portion 211 is formed in a curved surface shape.
- a plurality of pressure-sensitive sensors 70 are arranged side by side along the curved surface shape on the wall surface 215 on the bending direction side of the first joint portion 22 on the distal end side of the first finger link portion 211. May be.
- FIG. 11 is a block diagram showing each functional unit included in the arm control device 42 and the hand control device 43.
- the arm control device 42 is configured to supply a control signal for generating a drive signal of each motor to a driver of each motor mounted on the arm mechanism 3 of the robot arm 1.
- the arm control device 42 is a computer having an arithmetic processing unit and a memory, and includes an arm control unit 420 and a motor state quantity acquisition unit 421 as functional units. Each functional unit is formed by executing a predetermined control program in the arm control device 42.
- the arm control unit 420 is provided in each joint unit 30a, 30b, 30c, 30d, and 30e of the arm mechanism 3 based on the target information acquired by the target information acquisition unit 430, which will be described later, included in the hand control device 43. By controlling the motor, the arm mechanism 3 is moved, thereby moving the hand mechanism 2 to a predetermined grippable position suitable for gripping the object.
- the motors provided in the joint portions 30a, 30b, 30c, 30d, and 30e of the arm mechanism 3 are encoders that detect state quantities (such as the rotational position and rotational speed of the rotation shaft of the motor) related to the respective rotational states. (Not shown) is provided.
- the state quantity of each motor detected by the encoder of each motor is input to the motor state quantity acquisition unit 421 of the arm control device 42.
- the arm control unit 420 servo-controls each motor so that, for example, the hand mechanism 2 moves to the predetermined grippable position based on the state quantity of each motor input to the motor state quantity acquisition unit 421. To do.
- the hand control device 43 is configured to supply a control signal for generating a drive signal of each motor to the driver of each motor mounted on the hand mechanism 2.
- the hand control device 43 is a computer having an arithmetic processing unit and a memory, and as functional units, an object information acquisition unit 430, a motor state quantity acquisition unit 431, a sensor information acquisition unit 432, a direct grip control unit 433, and a determination unit 434.
- Each functional unit is formed by executing a predetermined control program in the hand control device 43.
- the hand control device 43 is configured to control the hand mechanism 2 that has been moved to a predetermined grippable position based on the object information acquired by the object information acquisition unit 430.
- the object information acquisition unit 430 acquires object information that is information regarding an object to be gripped by the hand mechanism 2.
- the object information includes information on the shape, dimensions, and position of the object, and environmental information around the object (information on objects other than the object existing around the object, for example, , Information on the shape of the container in which the object is stored and the arrangement of the objects in the container).
- the object information acquisition unit 430 may acquire object information input by the user. When a visual sensor that captures an image including an object is provided, the object information acquisition unit 430 may acquire object information from an image captured by the visual sensor.
- the direct grip control unit 433 is a functional unit that causes the hand mechanism 2 to perform direct gripping, which is one of the gripping forms of the object.
- Direct gripping means that at least two finger portions of the finger portions 21 of the hand mechanism 2 are left in the state in which the target object is placed before gripping, that is, without changing the position or posture of the target object. It is the form of the holding
- the determination unit 434 is a functional unit that determines whether or not the arrangement state of the object to be grasped is a state in which the direct grasping is possible. Further, the identification unit 435 is used to grip the target object in a form different from direct gripping when the target object is arranged in a state where the determination unit 434 cannot directly grip the target object. It is a functional part that identifies a part. Note that the gripping form in this case is a gripping form realized by a first motion control unit 436 and a second motion control unit 437, which will be described later. And an unexposed part. Details of these will be described later.
- first motion control unit 436 and the second motion control unit 437 are functional units that cause the hand mechanism to perform a gripping operation in a form different from direct gripping.
- the second operation is executed by the second operation control unit. Details of the first operation and the second operation will be described later.
- the first motor 51 that drives each finger portion 21 of the hand mechanism 2 for gripping the target object, whether the direct gripping or the gripping in a form different from the direct gripping
- the two motors 52 and the third motor 53 are controlled based on the object information.
- Each first motor 51, each second motor 52, and each third motor 53 of the hand mechanism 2 includes encoders (such as a rotational position and a rotational speed of the rotation shaft of the motor) that detect state quantities relating to the respective rotational states. (Not shown) is provided.
- the state quantities of the motors 51, 52, 53 detected by the encoders of the motors 51, 52, 53 are input to the motor state quantity acquisition unit 431.
- the hand control device 43 servo-controls each motor 52, 52, 53 in each finger portion 21 based on the state quantity of each motor 51, 52, 53 input to the motor state quantity acquisition unit 431. Hold it.
- the detection value of the pressure-sensitive sensor 70 provided on the distal end side of each finger portion 21 of the hand mechanism 2 is input to the sensor information acquisition unit 432.
- the hand control apparatus 43 can detect the contact to the target object of the finger
- the example in which the arm control device 42 and the hand control device 43 are arranged inside the base portion 4 as the control devices included in the gripping system has been described.
- the control device 42 and the hand control device 43 may be formed by causing a control device such as a computer installed outside the robot arm 1 to execute a control program.
- a control device such as a computer installed outside the robot arm 1
- a configuration in which a part of each functional unit in the arm control device 42 or the hand control device 43 is formed in a control device separate from the arm control device 42 and the hand control device 43 may be employed. .
- the grip control is realized by executing a predetermined control program in the arm control device 42 and the hand control device 43.
- the hand mechanism 2 is moved to a predetermined grippable position.
- This process is executed by the arm control unit 420 of the arm control device 42.
- the object information acquired by the object information acquisition unit 430 is delivered from the hand control device 43 to the arm control device 42.
- the hand mechanism 2 acts on a predetermined grippable position where the hand mechanism 2 is to be positioned, that is, the object can be gripped. The position is calculated.
- a predetermined distance and a position separated from the target object may be calculated as a predetermined grippable position so that the target object can be gripped.
- S102 it is determined whether or not the object can be directly gripped by the hand mechanism 2 moved to a predetermined grippable position.
- the determination is performed by the determination unit 434 described above.
- details of direct gripping by the hand mechanism 2 will be described based on FIG.
- the object 10 shown in FIG. 13 is placed alone on the floor and has a rectangular parallelepiped shape. And as shown in FIG. 13, both the end surface 10a of the target object 10 and the end surface 10b opposite to it shall be exposed to the extent that the finger
- the object 10 is moved from the paired direction indicated by the white arrow in the drawing by the finger part 21A and the finger part 21C of the hand mechanism 2. It becomes possible to sandwich and hold. At this time, since the object 10 can be grasped without changing the posture or position of the object 10, the grasping form shown in FIG. 13 is directly grasped.
- the determination of whether or not direct gripping can be performed by the determination unit 434 is performed on the part of the target object 10 (to the predetermined gripping part of the present invention) that allows the target object 10 to be gripped from the paired direction as described above. This is a determination process performed as to whether or not the end faces 10a and 10b shown in FIG. 13 are exposed.
- the environment information such as information on the shape and position of the target object included in the target object information acquired by the target object information acquisition unit 430 and the relative positional relationship between the obstacle around the target object 10 and the target object 10.
- the presence / absence of a part that can be directly gripped is determined according to the information. In the example shown in FIG.
- the finger part 21 ⁇ / b> A and the finger part 21 ⁇ / b> C are close enough to be positioned on the side surface side.
- the determination unit 434 determines that direct gripping is possible. If a positive determination is made in S102, the process proceeds to S103, and if a negative determination is made, the process proceeds to S104.
- the hand mechanism 2 performs direct gripping with an affirmative determination in S102.
- the first finger link portion 211A of the finger portion 21A is in contact with the end surface 10a
- the first finger link portion 211C of the finger portion 21C is in contact with the end surface 10b, whereby the object 10 is directly gripped. Is done.
- the direct gripping it is sufficient that the target object 10 is gripped by at least two finger parts 21.
- the first finger link portion 211B of the finger portion 21B or the first finger link portion 211D of the finger portion 21D (not shown) is brought into contact with the object 10 and directly gripped. May be. After the process of S103, this control ends.
- a contactable part in the object 10 is specified by a negative determination in S102.
- the contactable portion is a surface of the object 10 that is placed in a state where it cannot be directly gripped, so that any of the hand mechanisms 2 can be tilted to tilt the object 10 in order to realize gripping in a form different from direct gripping.
- Such a finger part (a finger part corresponding to the first finger part of the present invention) is a part that can be contacted. Therefore, not all the surfaces of the exposed object 10 are contactable parts, but the exposed parts of the exposed surface are in contact with the finger part and can change the posture and position of the object 10. It becomes a possible part.
- the process for specifying the contactable part in the target object 10 is demonstrated based on FIG.
- FIG. 14 is a flowchart of a process for specifying a contactable part in the object 10.
- the object 10 to be grasped is arranged as shown in FIG.
- four rectangular parallelepiped objects that are objects are placed in series, and the object located on the front side is the object 10 to be grasped, and the other objects are the object although it is an object having the same shape as that of FIG.
- the bottom surface of the object 10 is placed in contact with the floor surface.
- the side surfaces S2 and S3 of the object 10 are obstacles (not shown) (for example, containers for storing objects). Etc.) are located around the object 10 and are not exposed.
- the back surface S5 of the target object 10 is in contact with the non-target object 10 'on the back, it is not in the same exposed state. Note that the information regarding the arrangement state of the target object 10 is included in the target object information acquired by the target object information acquisition unit 430.
- the exposed surface of the object 10 is extracted based on the object information regarding the object 10.
- the front surface S ⁇ b> 1 and the upper surface S ⁇ b> 4 are extracted as the exposed surface of the object 10.
- the extracted exposed surface is a so-called candidate for a contactable part.
- S202 as a candidate for a contactable part, the tilting that tilts and tilts the target object 10 by the finger part 21 of the hand mechanism 2 contacting and acting on the target object from the exposed surface extracted in S201.
- An exposed surface that can be operated is selected. In the example shown in FIG.
- the front surface S ⁇ b> 1 is a surface that stands substantially perpendicular to the floor surface, so that even if the finger 21 contacts the front surface S ⁇ b> 1 and applies a force, the front surface S ⁇ b> 1 is positioned around the object 10.
- the object 10 cannot be tilted due to the presence of the non-object 10 'or an obstacle.
- the upper surface S4 realizes the tilting operation of the target object 10 by moving the finger part 21 so that the upper part of the target object 10 is pulled down in the state where the finger part 21 is in contact with the upper surface S4. Can do. Therefore, the top surface S4 is selected as a candidate for a contactable part by the process of S202.
- S203 it is determined whether there is a candidate exposed surface through the processing in S201 and S202. If an affirmative determination is made in S203, one of the exposed surfaces narrowed down as a candidate for the contactable portion is specified as the contactable portion (processing in S204). On the other hand, if a negative determination is made in S203, the contactable part is not specified and the process ends unsuccessfully. In this way, by the contactable part specifying process shown in FIG. 14, the contactable part at the time of grip control is specified (the process of S104 in FIG. 12). In the present embodiment, the upper surface S4 is specified as the contactable part.
- the unexposed portion of the object 10 is specified in S105.
- the non-exposed portion of the surface of the object 10 can be touched by the finger portion of the hand mechanism 2 before the object 10 is tilted in a state where the finger portion 21 is in contact with the contactable portion. Although this is a part that is not exposed, the part that is not exposed is removed when the tilting operation is performed. Therefore, it can be said that the contactable part and the non-exposed part are parts of the surface of the object 10 that are related by the tilting operation of the object 10. Therefore, a process for specifying a non-exposed portion in the object 10 will be described with reference to FIG.
- FIG. 16 is a flowchart of processing for specifying a non-exposed portion in the object 10.
- the object 10 to be grasped is arranged as shown in FIG. 15 and that the object 10 is tilted using the contactable part.
- the object information related to the object 10 is used as in the contactable part specifying process.
- S301 based on the target object information regarding the target object 10, the part which becomes a candidate of a non-exposed part among the surface of the target object 10 is extracted.
- the part which becomes a candidate of this non-exposed part is extracted as a requirement that it is not exposed so that the finger part 21 of the hand mechanism 2 can be contacted. Therefore, in the object 10 in the arrangement state shown in FIG. 15, the side surfaces S2 and S3, the back surface S5, and the bottom surface are extracted as candidates for the non-exposed portion.
- the part 10 extracted from S301 is exposed by the tilting operation of the target object 10 using the contactable part, that is, by the tilting operation.
- a part where the finger part 21 of the hand mechanism 2 can come into contact is selected.
- the tilting operation of the target object 10 can only be performed by pulling the target object 10 toward the front side while the finger portion 21 is in contact with the upper surface S4. Therefore, the only candidate for the non-exposed portion that is exposed by this tilting operation is the back surface S5.
- a further non-exposed portion candidate selection process is performed. Specifically, among the non-exposed part candidates selected in S302 as candidates for the non-exposed part, when the finger part 21 comes into contact with the candidate non-exposed part, the other finger part 21 becomes the candidate non-exposed part.
- a candidate non-exposed portion having a surface that can be touched by the finger portion 21, that is, an exposed portion that allows the object 10 to be gripped in combination with the portion is selected. That is, in S303, when the object 10 is gripped using the non-exposed part that is exposed by the tilting operation, the part is a part for bringing the finger part 21 into contact with the object 10 other than the non-exposed part.
- a non-exposed portion where an exposed site will be present is selected.
- the said exposed part which makes a pair with a non-exposed part corresponds to the predetermined
- the candidate for the non-exposed portion selected in S302 is only the back surface S5.
- the finger portion 21 is brought into contact with the back surface S5 exposed by the tilting operation, another finger portion 21 is selected. It is possible to hold the object 10 with both finger parts by bringing the object into contact with the front surface S1. Therefore, the back surface S5 is selected as a candidate for the non-exposed portion also by the processing of S303.
- S304 it is determined whether or not there is a candidate non-exposed portion through the processing in S301 to S303. If an affirmative determination is made in S304, one part of the candidates for the non-exposed part is specified as the non-exposed part (processing in S305). On the other hand, if a negative determination is made in S304, the unexposed portion is not specified and the process ends unsuccessfully.
- the non-exposed portion is specified during gripping control by the non-exposed portion specifying process shown in FIG. 16 (the process of S105 in FIG. 12). In this embodiment, the back surface S5 is specified as a non-exposed portion.
- the process of S105 ends, it is determined in S106 whether the contactable part and the non-exposed part are successfully identified. Specifically, the determination process in S106 is affirmative when the touchable part specifying process succeeds in specifying the touchable part and the non-exposed part specifying process succeeds in specifying the non-exposed part. In this case, the determination process in S106 is negative. If an affirmative determination is made in S106, the object 10 is gripped using the specified contactable part and the non-exposed part, and if a negative determination is made in S106, the gripping process of the object 10 is stopped. (S111 process).
- operations other than the predetermined holding operation may be performed. For example, after returning the robot arm 1 and the hand mechanism 2 to predetermined positions and states, an alarm may be issued to inform the user that the object 10 has not been gripped, or the gripping may be performed.
- the gripping control may be advanced by switching the target object to another object.
- the tilting operation of the object 10 is started using the contactable portion.
- This tilting operation is an operation for exposing the non-exposed portion to such an extent that the finger portion 21 of the hand mechanism 2 can be contacted, and corresponds to a first operation executed by the first operation control unit 436.
- the first motion control unit 436 brings the first finger link unit 211 ⁇ / b> A of the finger unit 21 ⁇ / b> A into contact with the upper surface as the contactable unit 101 of the target object 10.
- the other finger portions 21B to 21D are not in contact with the object 10.
- the first motion control unit 436 applies a force to the target object 10 to drive-control the finger part 21A and pull the target object 10 toward the near side. Let Therefore, as shown in FIG. 17B, the object 10 is tilted so that the upper part approaches the floor surface side with the part of the bottom surface in contact with the floor surface as the center.
- the non-exposed portion 102 that is the back surface of the target object 10 that has been in contact with the non-target object 10 ′ in the arrangement state before gripping is exposed, and the non-exposed part 102 and the non-target object are exposed.
- a space is formed between the object 10 'and the object 10'. The space becomes larger as the object 10 is further tilted. Therefore, regarding the tilting operation of the target object 10 started in S107, the hand mechanism 2 is placed in the space formed between the non-exposed part 102 and the non-target object 10 ′ when the exposure of the non-exposed part 102 is completed.
- S108 it is determined whether or not the size of the space has been secured to such an extent that the finger part 21B and the finger part 21D different from the finger part 21A can enter. Note that this determination is made based on the movement amount of the finger portion 21 ⁇ / b> A related to the pulling amount of the object 10.
- the space that is sufficient for the entry of the finger part 21B and the finger part 21D in this way is hereinafter referred to as an entry space. If an affirmative determination is made in S108, the process proceeds to S109, and if a negative determination is made, the tilting operation of the object 10 is continued.
- the tilting operation by the first operation control unit 436 is stopped with an affirmative determination in S108.
- the state in which the finger portion 21A is in contact with the contactable portion 101 is maintained. Therefore, the non-exposed portion 102 is sufficiently exposed, and an entry space is secured between the object 10 in the tilted state and the adjacent non-object 10 '.
- the object 10 is gripped.
- This gripping operation is a gripping mode performed in a state in which the posture of the object 10 before the grip control is started is changed by the tilting operation, and is different from the direct gripping shown in FIG. Therefore, in this application, the gripping operation performed in S110 is referred to as tilted gripping.
- This tilting gripping is a gripping of the object performed in a state where the target object 10 is tilted and the non-exposed portion 102 is exposed, and corresponds to the second motion executed by the second motion control unit 437.
- the tilting grip will be specifically described with reference to FIGS. 18A to 18C.
- 18A to 18C show the same state in which the hand mechanism 2 is holding the object by tilting and holding from different viewpoints.
- 18A is a view from the direction in which the non-exposed portion 102 of the object 10 can be seen
- FIG. 18B is a view of the object 10 viewed from the side
- FIG. 18C is a front surface 103 (FIG. 15) of the object. It is a figure from the direction which can see the site
- the first finger link part 211B of the finger part 21B and the first finger link part 211D of the finger part 21D enter the entry space formed between the object 10 and the adjacent non-object 10 '.
- the two finger link portions are brought into contact with the non-exposed portion 102, and the first finger link portion 211C of the finger portion 21C is brought into contact with the front surface 103 of the object 10. That is, in the tilting gripping, the fingers 10 other than the finger portion 21A used for supporting the object 10 in the tilted state from the front and back of the hand mechanism 2 in the tilted state are used. Stable gripping is realized.
- the finger part 21B and the finger part 21D correspond to the second finger part of the present invention
- the finger part 21C corresponds to the third finger part.
- the first finger link portion of one finger portion 21 may be brought into contact with the non-exposed portion 102
- the first finger link portion of the remaining two finger portions 21 may be brought into contact with the front surface 103. .
- the first finger of the finger part 21 on the non-exposed part 102 side is used. It is preferable that the link portion and the first finger link portion of the finger portion 21 on the front surface 103 side substantially face each other. Also, as shown in FIGS. 18A to 18C, when the tilting gripping is performed with the three finger portions 21, when viewed from the non-exposed portion 102 or the front surface 103, there are two action points of the one finger portion 21C. It is preferable that each finger part 21 contacts an object so that it may be located between each action point of the finger part 21B and the finger part 21D.
- the hand mechanism 2 can move the object 10 to a desired position while holding the object 10. Thereby, the grip control shown in FIG. 12 is completed.
- the grip control when the object 10 is arranged so as to be directly gripped, the direct grip is executed. As a result, the time required for gripping the object 10 can be shortened.
- the posture of the object 10 is changed by bringing the finger part 21A of the hand mechanism 2 into contact with the contactable part 101, and the remaining fingers Tilt gripping of the object 10 is realized by the portions 21B to 21D.
- the object 10 is gripped while the finger part 21A is in contact with it, so that the time required to form a state in which the object 10 can be tilted gripping can be shortened as much as possible. it can.
- the above grip control it is possible to realize gripping of the target object 10 without being affected as much as possible by the situation where the target object 10 is arranged. Therefore, extremely efficient gripping of the object and movement of the object after gripping are possible.
- the finger parts 21B ⁇ 21D when the object is tilted while the first finger link part 211A of the finger part 21A is in contact with the upper surface as the contactable part 101 of the object 10, the finger parts 21B ⁇ 21D is not brought into contact with the object 10, but when the object is tilted while the first finger link part 211A of the finger part 21A is brought into contact with the upper surface of the contactable part 101 of the object 10, the first part of the finger part 21C You may make it incline the target object 10 by making this contact part 211C contact the lower part of the front surface 103 of the target object 10, and this contact part.
- the position at which the first finger link portion 211C of the finger portion 21C is brought into contact with the front surface 103 of the target object 10 is a position closer to the bottom surface than the top surface of the target object 10 in the height direction of the target object 10, and In the width direction of the object 10 (the front-rear direction in FIG. 19), the position is set to a position equivalent to the position where the first finger link portion 211A of the finger portion 21A contacts.
- Position of the contact portion) can be suppressed, and the posture when the object 10 is tilted can be easily set to a posture suitable for gripping. As a result, the object 10 can be gripped in a more stable posture.
- the hand mechanism 2 according to this modification includes three finger portions 21A to 21C. These finger portions have the same configuration as in the above embodiment, but when the hand mechanism 2 is viewed from above as shown in FIG. They are arranged at equiangular intervals (ie, 120 deg intervals) on a circumference centered on the longitudinal axis. In this case, the first finger link part 211B of the finger part 21B corresponding to the first finger part contacts the contactable part 101 of the object 10 and tilts the object.
- the first finger link portion 211A of the finger portion 21A corresponding to the second finger portion contacts the non-exposed portion 102, and the finger portion 21C corresponding to the third finger portion.
- the first finger link portion 211 ⁇ / b> C contacts the front surface 103.
- the gripping system is a gripping system for gripping an object by a hand mechanism having at least two fingers, and the target that can be contacted by the first finger that is at least one of the fingers.
- a specifying unit that specifies a contactable part in an object and a non-exposed part that is not exposed so that a second finger part different from the first finger part can be contacted when determined by the determination unit;
- the position or posture of the object is changed while contacting the contactable part with one finger part, and the non-exposed part is exposed so that the second finger part can contact the non-exposed part of the object.
- the second finger part is brought into contact with the non-exposed part, and a finger part other than the second finger part is placed It contacts a predetermined surface of the object other than the non-exposed part. It is to, and a second operation control unit for gripping said object.
- the finger part 21D is not shown in order to simplify the description.
- the object 10 having a rectangular shape is arranged on the floor surface, but a non-object 10 ′ is also placed beside the object 10.
- the object 10 and the non-object 10 ' are not in contact with each other, and a relatively small gap R1 is formed between them.
- the gap R1 is not large enough to allow the finger portion (for example, the finger portion 21C) of the hand mechanism 2 to enter in order to directly grip the object 10.
- the determination by the determination unit 434 determines that the object 10 cannot be directly gripped. The determination is made based on the object information acquired by the object information acquisition unit 430.
- the object 10 is tilted and gripped by the grip control shown in FIG.
- the hand mechanism 2 approaches from above the object 10 as shown in FIG. 21, the upper surface of the object 10 can be contacted by the finger portion 21 of the hand mechanism 2, and the finger portion 21
- the finger portion 21 By pushing the edge of the upper surface in the direction of the white arrow in the figure (slant lower right), it is possible to tilt the object 10 while part of the bottom surface is in contact with the floor surface (FIG. 22). See). Therefore, the upper surface of the object 10 is selected as the contactable portion 101 through the contactable portion specifying process shown in FIG.
- the object 10 when the object 10 is tilted in this way, it is the side surface of the object 10 that faces the non-target object 10 ′, and the side surface that is not exposed so that the finger portion 21 can be contacted before tilting. However, it will be exposed so that it can contact. Then, the finger part 21 is brought into contact with the exposed side surface, and the object 10 can be tilted and gripped by the finger part and the finger part in contact with the contactable part 101 as shown in FIG. Therefore, the side surface of the object 10 is selected as the non-exposed portion 102 through the non-exposed portion specifying process shown in FIG.
- the exposed portion that allows the object 10 to be tilted and gripped by being paired with the non-exposed portion 102, that is, the portion corresponding to the predetermined surface of the present invention is the upper surface (contactable portion 101) of the object 10. ).
- the first finger link portion 211A of the finger portion 21A comes into contact with the edge portion of the contactable portion 101 as a first operation, and FIG. Apply force in the direction of the white arrow.
- the object 10 is tilted, and the non-exposed portion 102 is exposed so that the first finger link portion 211C of the finger portion 21C can be contacted. And the tilted state of this target object 10 is maintained.
- the first finger link portion 211C of the finger portion 21C is brought into contact with the non-exposed portion 102 of the target object 10 in the tilted state.
- the object 10 is tilted and held.
- another finger part for example, the finger part 21 ⁇ / b> B
- the hand mechanism 2 has two fingers 21A and 21B. However, the hand mechanism 2 may further have fingers. These finger portions have the same configuration as in the above embodiment, but when the hand mechanism 2 is viewed from above as shown in FIG. They are arranged at equiangular intervals (ie, 180 deg intervals) on a circumference centered on the longitudinal axis. Also in the present embodiment, the object 10 having a solid shape is arranged on the floor surface, but the non-object 10 ′ is placed so as to be in contact with the side of the object 10.
- the determination by the determination unit 434 determines that the object 10 cannot be directly gripped. The determination is made based on the object information acquired by the object information acquisition unit 430.
- the shift gripping different from the direct gripping is performed.
- the shifted gripping is a gripping mode that is performed after the target object 10 is gripped by pressing the target object 10 while pressing it against a different object and changing the position of the target object 10. That is, the shifting gripping is a gripping mode performed when the object 10 cannot be directly gripped similarly to the tilting gripping, and the difference from the tilting gripping is that the tilting gripping is performed by changing the posture of the target object 10. In contrast to forming a grippable state, shifted gripping forms a grippable state by changing the position of the object 10.
- the contactable part is specified by the contactable part specifying process and the non-exposed part is specified by the non-exposed part specifying process, and the first operation is performed using the contactable part and the non-exposed part.
- Shift gripping is realized by executing the first operation by the control unit 436 and the second operation by the second operation control unit 437.
- the object 10 is lifted up (in the direction of the white arrow in FIG. 23) from the exposed surface of the object 10 so that the finger part 21 of the hand mechanism 2 can contact.
- the side surface of the object 10 on the side opposite to the contact surface with the non-object 10 ′ is the contactable portion 101 as a part that enables the operation of pressing the object 10 against the non-object 10 ′ for Will be elected as.
- the object 10 when the object 10 is moved up in this way, it is a side surface of the object 10 that contacts the non-object 10 ′ and is not exposed so that the finger part 21 can be contacted before the object 10 is moved up.
- the side surfaces will be exposed so that they can be contacted.
- the finger part 21 is brought into contact with the exposed side surface, and the object 10 can be shifted and held as shown in FIG. 24 by the finger part and the finger part in contact with the contactable part 101. Therefore, the non-exposed side surface of the object 10 is selected as the non-exposed portion 102 through the non-exposed portion specifying process.
- the exposed surface that enables the object 10 to be shifted and gripped in combination with the non-exposed portion that is, the portion corresponding to the predetermined surface of the present invention is the side surface of the object 10 (contactable portion 101). It is.
- the contactable portion 101 and the non-exposed portion 102 By specifying the contactable portion 101 and the non-exposed portion 102 in this way, as a first action, the first finger link portion 211A of the finger portion 21A contacts the contactable portion 101, and the object 10 is untargeted.
- the object 10 is moved up in the direction of the white arrow in FIG. 23 while being pressed against the object 10 ′ side. Thereby, while the position of the target object 10 rises, the non-exposed portion 102 is exposed so that the first finger link portion 211B of the finger portion 21B can be contacted.
- the portion exposed by the shifting-up operation in the non-exposed portion 102 is referred to as “1020”.
- the non-object 10 ′ may be pressed by the finger portion 21 ⁇ / b> B so as not to move when the shifting operation is performed. Then, the shifted state of the object 10 is maintained. Next, as the second operation, the first finger link portion 211B of the finger portion 21B is brought into contact with the exposed portion 1020 of the non-exposed portion 102 of the object 10 in the shifted state. Then, together with the first finger link portion 211A of the finger portion 21A already in contact with the contactable portion 101, the first finger link portion 211B shifts and grips the object 10.
- the shift gripping is not only a gripping mode that involves the upward movement of the gripping object shown in FIGS. 23 and 24 described above, but also an operation of shifting the gripping object to the side (lateral direction of the gripping object).
- a gripping configuration with For example, in an arrangement state in which a plurality of objects are stacked in a state where direct gripping cannot be performed, when the exposed portion of the uppermost gripping object is substantially parallel to the bottom surface of the container, the gripping object is Shifting and holding may be realized by moving the fingers side of the hand mechanism to a pair of side surfaces of the object to be gripped that are shifted laterally and exposed by the shifting operation.
- FIG. 25 illustrates a state in which the object 10 arranged on the floor surface X0 is viewed from the side.
- FIG. 25A shows the state of the object 10 before gripping
- FIG. 25B shows the state where the object 10 is moved before gripping.
- ) Represents a state in which the object 10 is rotated in the vertical direction (height direction)
- FIG. 9D represents a state in which the object 10 is held in the vertical direction.
- the floor surface X0 is provided with a wall surface X1 that stands perpendicular to the floor surface X0.
- the hand mechanism 2 has two fingers 21A and 21B, but it may further have fingers.
- finger portions have the same configuration as in the above embodiment, but when the hand mechanism 2 is viewed from above as shown in FIG. They are arranged at equiangular intervals (ie, 180 deg intervals) on a circumference centered on the longitudinal axis.
- the object 10 has a projecting portion 113 projecting outward on the side thereof, and has an upper side surface 114 above it and a lower side surface 111 below it. In a state before gripping, the object 10 is placed on the floor surface X0, and a relatively small gap R2 is formed between the object and the wall surface X1.
- the gap R2 is not large enough to allow the finger portion (for example, the finger portion 21B) of the hand mechanism 2 to enter in order to directly grip the object 10 (see FIG. In FIG. 25 (a), the gap R2 is enlarged and described so that the arrangement state of the object 10 can be easily understood. Further, since there is an obstacle (not shown) on the side of the object 10 (front and rear sides in the figure), the object 10 cannot be moved in that direction. In such a case, the determination by the determination unit 434 determines that the object 10 cannot be directly gripped. The determination is made based on the object information acquired by the object information acquisition unit 430.
- rotational gripping different from direct gripping is performed.
- the rotation gripping grips the target object 10 by rotating the target object 10 and changing its posture while keeping a part of the target object 10 in contact with a different object (in this embodiment, the wall surface X1). It is the form of the grip performed after making it possible. That is, the rotational gripping is a gripping mode performed when the object 10 cannot be directly gripped similarly to the tilt gripping, and forms a grippable state by changing the posture of the target object 10.
- the contactable part is specified by the contactable part specifying process and the non-exposed part is specified by the non-exposed part specifying process, and the first operation is performed using the contactable part and the non-exposed part.
- a gap R2 exists between the object 10 and the wall surface X1 before the gripping. Therefore, the object 10 is pushed and moved to the wall surface X1 by the hand mechanism 2 so that the object 10 contacts the wall surface X1 by the hand mechanism 2 before the object 10 can be rotated and gripped.
- the movement of the object 10 before the rotating grip is realized by a function unit (not shown) formed in the hand control device 43, and the function unit corresponds to a position adjustment unit of the present invention.
- the object 10 is rotated in the vertical direction (height direction) out of the exposed surface of the object 10 so that the finger part 21 of the hand mechanism 2 can be contacted (see FIG. 25 (c)
- the lower side surface 111 of the object 10 is selected as the contactable part 101 as a part that enables an action to apply force to the object 10 to rotate in the direction of the outlined arrow). become.
- the bottom surface of the object 10 (the surface that has been in contact with the floor surface X0) can be touched with the finger portion 21 before the rotation.
- the bottom surface 112 that is not exposed is exposed so that it can be contacted.
- the finger part 21 is brought into contact with the exposed bottom surface 112, and the other finger part 21 is brought into contact with the upper surface 115 of the object 10, so that both the finger parts cause the object 10 as shown in FIG. Can be rotated and gripped. Therefore, the bottom surface 112 of the object 10 is selected as the non-exposed portion 102 through the non-exposed portion specifying process.
- an exposed portion that allows the object 10 to be rotationally gripped in a pair with the non-exposed portion that is, a portion corresponding to a predetermined surface of the present invention is the upper surface 115 of the object 10.
- the first operation control unit is set as the first operation after the object adjustment unit 10 is moved so as to contact the wall surface X1 by the position adjustment unit.
- 436 makes the first finger link part 211A of the finger part 21A contact the contactable part 101, and rotates the object 10 in the direction of the white arrow in FIG. 25C while bringing the object 10 into contact with the wall surface X1.
- the bottom surface 112 is lifted while a part of the bottom surface 112 of the object 10 is in contact with the floor surface X0, and the non-exposed portion 102 (bottom surface 112) can be contacted later with the first finger link portion 211A of the finger portion 21A.
- the second operation control unit 437 brings the first finger link unit 211B of the finger unit 21B into contact with the upper surface 115 and also performs a lifting operation.
- the first finger link portion 211A of the finger portion 21A performing the sliding is slid into the space formed between the floor surface X0 below the non-exposed portion 102, and the first finger link portion 211A is moved to the non-exposed portion 102. Make contact.
- the object 10 is rotated by the first finger link portion 211B of the finger portion 21B in contact with the upper surface 115 and the first finger link portion 211A of the finger portion 21A in contact with the non-exposed portion 102. Hold it.
- the object 10 can be moved and moved easily before the rotation gripping, that is, a state where the protruding portion 113 of the object 10 is in contact with the wall surface X1 is formed, so that the object 10 can be gripped more smoothly. It becomes possible.
- the first finger link part 211A of the finger part 21A is the contactable part 101 of the object 10. The state in contact with the lower side surface 111 is maintained. Therefore, it becomes possible to perform more smoothly the operation
- the target object 10 can be gripped by rotating the target object 10 in the vertical direction (height direction) to expose the non-exposed portion 102. That is, the object 10 can be gripped by rotating the object 10 around the axis extending in the width direction of the object 10 to expose the non-exposed portion 102.
- the rotation direction of the object 10 is not limited to the vertical direction.
- the object 10 may be rotated in the lateral direction, or by rotation in an oblique direction between the vertical direction and the horizontal direction. There may be.
- rotation in the lateral direction here refers to a form in which the object 10 is rotated around an axis extending in the depth direction of the object 10 or an axis extending in the height direction of the object 10. Includes a form in which the object 10 is rotated.
- the movement of the object 10 before gripping shown in the fourth embodiment can also be applied to the first to third embodiments described above.
- the object 10 is set to the non-object so that the gap R1 is eliminated.
- the shifting and gripping shown in the third embodiment may be performed.
- the tilting grip shown in the first and second embodiments may be performed.
- FIG. 26 illustrates a state in which the object 10 placed on the floor is viewed from the side.
- FIG. 26A shows the state of the object 10 before gripping
- FIG. 26B shows the state where a part of the object 10 is lifted from the floor surface.
- the hand mechanism 2 has three finger parts, a finger part 21A, a finger part 21B, and a finger part 21C. These finger portions have the same configuration as in the above embodiment, but when the hand mechanism 2 is viewed from above as shown in FIG.
- the object 10 shown in FIG. 26 has a protruding portion 113 that protrudes outward on the side thereof, and has an upper side surface 114 on the upper side, similarly to the object shown in FIG. 25 described above.
- the lower side surface 111 is provided below the lower side surface 111.
- the length and width of the object 10 shown in FIG. 26 is based on an interval when two of the three finger portions 21A to 21C are opened to the maximum outside in the radial direction of the hand mechanism 2. Is also assumed to be large.
- the length and width of the target object 10 are greater than the length and width that can be gripped by the hand mechanism 2.
- the determination by the determination unit 434 determines that the object 10 cannot be directly gripped. The determination is made based on the object information acquired by the object information acquisition unit 430.
- floating gripping different from direct gripping is performed.
- the floating grip is a form of gripping that is performed after a part of the object 10 is lifted from the floor surface and its posture is changed to make the object 10 grippable. That is, floating gripping is a gripping mode that is performed when the object 10 cannot be directly gripped, similar to the tilt gripping or the rotational gripping, and forms a grippable state by changing the posture of the target object 10.
- the contactable part is specified by the contactable part specifying process and the non-exposed part is specified by the non-exposed part specifying process, and the first operation is performed using the contactable part and the non-exposed part.
- the floating operation is realized by executing the first operation by the control unit 436 and the second operation by the second operation control unit 437.
- the surface of the object 10 is an exposed surface so that the finger part 21 of the hand mechanism 2 can contact, and a part of the object 10 is placed on the floor.
- the lower side surface 111 of the target object 10 is selected as the contactable part 101 as a part that enables an operation to apply a force to the target object 10 in order to float from the surface.
- the bottom surface of the object 10 (the surface that has been in contact with the floor surface), and is exposed so that the finger portion 21 can be contacted before the object 10 is lifted.
- the bottom surface 112 that has not been exposed is exposed so as to be contactable.
- the finger part 21 is brought into contact with the exposed bottom surface 112, and the other finger part 21 is brought into contact with the upper surface 115 of the object 10, whereby the object 10 can be lifted and grasped. Therefore, the bottom surface 112 of the object 10 is selected as the non-exposed portion 102 through the non-exposed portion specifying process.
- an exposed portion that allows the object 10 to float and be gripped in combination with the non-exposed portion that is, a portion corresponding to a predetermined surface of the present invention is the upper surface 115 of the object 10.
- the first action control part 436 makes contact with the first finger link part 211A of the finger part 21A (first finger part). While making contact with the lower side surface 111 as the possible portion 101, the portion of the object 10 on the contactable portion 101 side (the right portion in FIG. 26) is lifted. Thereby, the part of the object 10 on the side opposite to the contactable part 101 is in contact with the floor surface, and the part of the object 10 on the contactable part 101 side is lifted from the floor surface, so that the non-exposed part 102 is obtained. The bottom surface 112 is exposed so that the first finger link portion 211B of the finger portion 21B can be contacted later (FIG. 26 (b)).
- the second motion control unit 437 performs the first finger link portion of the finger portion 21B (second finger portion) as the second motion. 211B is inserted between the bottom surface 112 and the floor surface of the object 10, and the first finger link portion 211B is brought into contact with the bottom surface 112.
- the 2nd operation control part 437 is the 1st finger link part of finger part 21C (3rd finger part) which is finger parts other than finger part 21A (1st finger part) and finger part 21B (2nd finger part).
- the present embodiment even when the length and width of the target object 10 are larger than the length and width that can be gripped by the hand mechanism 2, the influence of the situation in which the target object 10 is arranged and the target The object 10 can be gripped without being affected as much as possible by the size of the object 10. Therefore, extremely efficient gripping of the object and stable movement of the object after gripping are possible.
- FIG. 27 is a diagram for explaining an execution procedure of floating gripping when gripping a portion near the center in the length direction of the target object 10.
- FIG. 27A shows a state in which a part of the object 10 is lifted from the floor surface
- FIG. 27B shows a state in which the object 10 is supported in a posture in which the non-exposed portion 102 (bottom surface 112) is exposed.
- FIG. 2C shows a state where the object 10 is held in the vertical direction (vertical direction).
- the first operation after the contactable portion 101 and the non-exposed portion 102 of the object 10 are specified in the present modification is the same as in the fifth embodiment, in which the first finger of the finger portion 21A (first finger portion) is used.
- This is an operation of lifting the contactable part 101 side part (the right part in FIG. 26) of the object 10 while bringing the link part 211A into contact with the lower side surface 111 as the contactable part 101.
- the part of the object 10 on the side opposite to the contactable part 101 is in contact with the floor surface, and the part of the object 10 on the contactable part 101 side is lifted from the floor surface, so that the non-exposed part 102 is obtained.
- the bottom surface 112 is exposed so that the first finger link portion 211B of the finger portion 21B can be contacted later (FIG. 27A).
- the second operation control unit 437 firstly performs the first finger of the finger unit 21B (second finger unit) as the second operation.
- the first finger link unit 211B By inserting the link portion 211B between the bottom surface 112 and the floor surface of the object 10 and bringing the first finger link portion 211B into contact with the bottom surface 112, the object 10 is supported in a posture in which the bottom surface 112 is exposed.
- the second motion control unit 437 moves the first finger link unit 211A of the finger unit 21A (first finger unit) that has performed the floating operation of the target object 10 between the bottom surface 112 of the target object 10 and the floor surface.
- the first finger link portion 211 ⁇ / b> A is brought into contact with the bottom surface 112 of the object 10 by being slid into the space formed on the object 10.
- the contact position between the first finger link part 211A of the finger part 21A (first finger part) and the bottom surface 112 of the object 10 is determined by the first finger link part 211B of the finger part 21B (second finger part) and the target.
- the hand mechanism 2 is controlled so as to be a position deeper than the contact position with the bottom surface 112 of the object 10 (a position on the left side in FIG. 27 and a position closer to the center in the length direction of the object 10). Shall be.
- the 2nd operation control part 437 is the 1st finger link part of finger part 21C (3rd finger part) which is finger parts other than finger part 21A (1st finger part) and finger part 21B (2nd finger part).
- 211C is brought into contact with the upper surface 115 (predetermined surface) of the object 10, and the first finger link portions 211A to 211B of the finger portions 21A to 21B are in contact with the bottom surface 112 as the non-exposed portion 102 of the object 10, The object 10 is lifted and gripped by the first finger link part 211C of the finger part 21C in contact with the upper surface 115 which is a predetermined surface of the object 10 (FIG. 27C).
- the object 10 can be gripped while the finger portion 21A is in contact with a portion closer to the center of the object 10 in the length direction, so that the weight of the object 10 is compared.
- the object 10 can be gripped more reliably and the posture of the object after gripping can be further stabilized even when the object is relatively large or the object 10 is relatively long. It becomes possible. As a result, extremely efficient gripping of the object and stable movement of the object after gripping are possible.
- FIG. 28 is a diagram for explaining the floating gripping of the object 10 by the hand mechanism 2 having the four finger portions 21A to 21D.
- FIG. 28A shows a state in which a part of the object 10 is lifted from the floor surface
- FIG. 28B shows the object 10 supported in a posture in which the non-exposed portion 102 (bottom surface 112) is exposed.
- FIG. 2C shows a state where the object 10 is held in the vertical direction (vertical direction).
- the four finger portions 21A to 21D have the same configuration as in the above embodiment, but the hand mechanism 2 is moved upward as shown in FIG.
- the finger portions 21 are arranged at equiangular intervals (that is, 90 deg intervals) on the circumference centered on the longitudinal axis of the hand mechanism 2.
- the first operation after the contactable portion 101 and the non-exposed portion 102 of the target object 10 are specified in the present modification example is the same as in the fifth embodiment and the first modification example, with the finger portion 21A (first finger portion).
- the first finger link portion 211A is brought into contact with the lower side surface 111 as the contactable portion 101, and the portion on the contactable portion 101 side of the object 10 (the portion on the right side in FIG. 28) is lifted. Thereby, the part of the object 10 on the side opposite to the contactable part 101 is in contact with the floor surface, and the part of the object 10 on the contactable part 101 side is lifted from the floor surface, so that the non-exposed part 102 is obtained.
- the bottom surface 112 is exposed so that the first finger link portion 211B of the finger portion 21B (second finger portion) can be brought into contact later (FIG. 28A).
- the second operation control unit 437 first performs the second operation in the same manner as in the fifth embodiment and the first modification.
- the first finger link portion 211B of the finger portion 21B (second finger portion) is inserted between the bottom surface 112 and the floor surface of the object 10, and the first finger link portion 211B is brought into contact with the bottom surface 112 (FIG. 28). (B)).
- the second motion control unit 437 includes the contact state between the first finger link unit 211A of the finger unit 21A (first finger unit) and the lower side surface 111, and the first finger of the finger unit 21B (second finger unit). While maintaining the contact state between the link portion 211B and the bottom surface 112, the finger portion 21D (fourth finger) that is one of the finger portions other than the finger portion 21A (first finger portion) and the finger portion 21B (second finger portion). The first finger link portion 211D is slid into the space formed between the bottom surface 112 and the floor surface of the object 10, and the first finger link portion 211D is brought into contact with the bottom surface 112 of the object 10.
- the contact position between the first finger link part 211D of the finger part 21D (fourth finger part) and the bottom surface 112 of the object 10 is determined by the first finger link part 211B of the finger part 21B (second finger part) and the target.
- the hand mechanism 2 is controlled so as to be a position deeper than the contact position with the bottom surface 112 of the object 10 (a position on the left side in FIG. 28 and a position closer to the center in the length direction of the object 10).
- the 2nd operation control part 437 is the 1st finger link part of finger part 21C (3rd finger part) which is finger parts other than finger part 21A (1st finger part) and finger part 21B (2nd finger part).
- the first finger link portions 211B and 211D of the finger portions 21B and 21D that are in contact with the upper surface 115 (predetermined surface) of the object 10 and are in contact with the bottom surface 112 that is the non-exposed portion 102 of the object 10, and the target
- the object 10 is lifted and held by the first finger link part 211C of the finger part 21C in contact with the upper surface 115 which is a predetermined surface of the object 10 (FIG. 28 (c)).
- the first finger link portion 211A of the finger portion 21A (first finger portion) is moved from the lower side surface 111 to the bottom surface 112 or the top surface 115, whereby the object 10 is sandwiched between the four finger portions. You may hold
- the object 10 can be held while the finger portion 21D is in contact with a portion closer to the center in the length direction of the object 10 as in the first modification. Even if the weight of the object 10 is relatively large or the length of the object 10 is relatively long, the object 10 can be more reliably grasped and the object after grasping This makes it possible to further stabilize the posture. As a result, extremely efficient gripping of the object and stable movement of the object after gripping are possible.
- FIG. 29 shows a state in which the object 10 placed on the floor is viewed from the side.
- FIG. 29A shows the state of the target object 10 before gripping
- FIG. 29B shows the target object 10 sandwiched in the horizontal direction (left-right direction in FIG. 29B).
- the gripped state is shown.
- the hand mechanism 2 has at least two finger portions of a finger portion 21A and a finger portion 21B. These finger portions have the same configuration as in the above-described embodiment, but when the hand mechanism 2 is viewed from above as shown in FIG.
- the object 10 shown in FIG. 29 has a flange 115 protruding outward on the side thereof, and has an upper side surface 114 above it and a lower side surface 111 below it.
- the object 10 is placed on the floor surface X0, and the flange portion 115 on the back side of the object 10 is in contact with the wall surface X1 or the flange portion 115 and the wall surface X1.
- a gap that is so small that the finger portion 21 cannot enter is formed.
- the object 10 since there is an obstacle (not shown) on the side of the object 10 (front and rear sides in the figure), the object 10 is sandwiched in the lateral direction by the two fingers 21A to 21B of the hand mechanism 2 from that direction. It cannot be gripped. In such a case, the determination by the determination unit 434 determines that the object 10 cannot be directly gripped. The determination is made based on the object information acquired by the object information acquisition unit 430.
- horizontal shifting gripping different from direct gripping is performed.
- the horizontal shifting gripping is performed by shifting the target object parallel to the floor surface X0 toward the direction in which the collar portion 115 of the target object 10 is separated from the wall surface X1 (horizontal movement in the direction of the white arrow in FIG. 29A).
- the two finger parts 21A to 21A of the hand mechanism 2 are changed into the hook part 115 positioned on the back side of the object 10 and the hook part 115 positioned on the front side of the object 10. It is the form of the gripping performed after making it possible to grip in the lateral direction by 21B.
- horizontal shifting gripping is a gripping mode that is performed when the object 10 cannot be directly gripped in the same manner as the tilt gripping and the rotational gripping, and the gripping state is changed by changing the position of the object 10.
- the contactable part is specified by the contactable part specifying process and the non-exposed part is specified by the non-exposed part specifying process.
- the surface of the target object 10 is a surface exposed so that the finger part 21 of the hand mechanism 2 can be touched, and is positioned on the back side of the target object 10.
- the rear side of the target object 10 is a part that enables an operation to apply a force to the target object 10 in order to shift the target object 10 in parallel with the floor surface X0 in a direction in which the flange portion 115 is moved away from the wall surface X1.
- the upper side surface 114 located at the position is selected as the contactable portion 101.
- the surface is located on the back side of the object 10.
- the flange portion 115 that is not exposed so that the finger portion 21 can be contacted before being displaced in the horizontal direction is exposed so that it can be contacted by the finger portion 21 of the hand mechanism 2.
- the finger part 21 is brought into contact with the exposed collar part 115, and the other finger part 21 is brought into contact with the collar part 115 positioned on the front surface side of the object 10, thereby gripping the object 10 in the lateral direction. Is possible.
- the collar portion 115 located on the back side of the object 10 is selected as the non-exposed portion 102.
- the exposed portion that enables the object 10 to be gripped in the lateral direction in a pair with the non-exposed portion that is, the portion corresponding to the predetermined surface of the present invention is located on the front side of the object 10. It is the collar part 115 to be.
- the first action control part 436 makes contact with the first finger link part 211A of the finger part 21A (first finger part).
- the object 10 is shifted in the direction (right direction) indicated by the white arrow in FIG. 26A while making contact with the possible portion 101 (the upper side surface 114 located on the back side of the object 10).
- a gap that allows the finger portion 21 to enter is formed between the flange portion 115 located on the back side of the object 10 and the wall surface X1, so that the non-contact portion 102 (the back surface of the object 10).
- the heel portion 115) located on the side is exposed so that the first finger link portion 211A of the finger portion 21A can be contacted later (FIG. 29B).
- the second motion control unit 437 moves the first finger link portion 211A of the finger portion 21A (first finger portion) as the second motion.
- the first finger link portion 211A is inserted between the collar portion 115 located on the back side of the object 10 and the wall surface X1, and the first finger link portion 211A is brought into contact with the collar portion 115 located on the back side of the object 10, and the finger portion 21B (
- the first finger link portion 211B of the second finger portion is brought into contact with the collar portion 115 located on the front surface side of the object 10, thereby contacting the collar portion 115 on the back surface that is the non-exposed portion 102 of the object 10.
- the object 10 is sandwiched and held in the horizontal direction by the first finger link part 211A and the first finger link part 211B in contact with the front-side collar part 115 which is a predetermined surface of the object 10 (FIG. 29). (B)).
- Modification 1 of the hand mechanism 2 included in the gripping system will be described with reference to FIGS.
- the target object 10 in which the collar part 115 is formed in the side surface of the target object 10, Comprising: The collar part 115 located in the back side of this target object 10 is contacting the wall surface X1
- An example in which the object 10 is horizontally shifted is described, but as shown in FIG. 30, a plurality of rectangular parallelepiped objects are placed in a row in the horizontal direction, and other objects (non-objects 10 are placed on both sides thereof. Even in the case where the object (object 10) on which ') is arranged is to be gripped, horizontal shifting gripping can be applied.
- the object 10 is horizontally moved toward the labor side (the direction of the white arrow in FIG. 30) while the first finger link part 211A of the finger part 21A is in contact with the upper surface as the contactable part 101 of the object 10.
- the first finger link part 211A of the finger part 21A is brought into contact with the upper surface of the object 10 as the contactable part 101.
- the object 10 when the object 10 is shifted in the horizontal direction while the first finger link part 211A of the finger part 21A is in contact with the upper surface of the object 10 as the contactable part 101, as shown in FIG. 31, other than the finger part 21A
- the first finger link portion 211B of the finger portion 21B may be brought into contact with the front surface 103, which is a surface located on the shifting direction side of the object 10.
- the object 10 is prevented from falling to the front side even when there is some unevenness on the floor surface X0. 10 can be shifted in the horizontal direction.
- the posture change of the target object 10 when the target object 10 is shifted in the horizontal direction can be suppressed.
- the position where the first finger link part 211B of the finger part 21B contacts the front surface 103 of the object 10 is determined by the object 10 In the height direction, it may be set at a position closer to the upper surface than the bottom surface.
- the object 10 when the object 10 having a relatively small bottom surface area is horizontally shifted, as shown in FIG. 32, the object 10 is placed in a state where the portion on the bottom surface side of the object 10 is lifted from the floor surface X0.
- the object 10 may be shifted in the horizontal direction.
- a portion of the first finger link portion 211A of the finger portion 21A near the back surface on the upper surface of the object 10 is indicated by a white arrow A1 in FIG. 32 (a).
- the direction near the top surface of the front surface 103 of the object 10 by the first finger link portion 211B of the finger portion 21B while pushing in the direction shown (slanting lower left) is the direction indicated by the white arrow A2 in FIG.
- part (site near the front surface 103) of the shifting direction side in the bottom face of the target object 10 can be floated from the floor surface X0.
- the first finger link portion 211B of the finger portion 21B maintains the direction in which the portion near the top surface on the front surface of the object 10 is pushed obliquely in the upper left direction, while the finger portion 21A
- the direction in which the first finger link portion 211A pushes the portion closer to the back surface on the upper surface of the object 10 is changed to the direction indicated by the white arrow A3 in FIG. By moving the object 10 in the direction indicated by the white arrow A4 in FIG.
- the position on the bottom side of the object 10 is kept floating from the floor surface X0 while maintaining the posture of the object 10. You may make it shift to a horizontal direction.
- the object 10 is shifted in the horizontal direction in such a form, the area of the bottom surface of the object 10 that is in contact with the floor surface X0 is reduced, and thus the object 10 having a relatively large bottom surface area. Even in the case where the angle is shifted in the horizontal direction, the frictional force between the object 10 and the floor surface X0 can be reduced.
- any one surface of an object having a polyhedral shape is selected as the contactable portion or the non-exposed portion according to the present invention.
- a non-exposed part is not restricted to the surface which a target object has.
- the contactable part may be a corner or an edge of the object as long as it can change the posture or position of the object.
- the non-exposed part is a part that is exposed by changing the posture or position of the object, and the object can be grasped by bringing the finger part of the hand mechanism into contact with the part and a predetermined surface.
- the corner or edge of the object may be used.
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Abstract
Description
アーム機構3は、第1アームリンク部31、第2アームリンク部32、第3アームリンク部33、第4アームリンク部34、第5アームリンク部35、および接続部材36を備えている。そして、ハンド機構2のベース部20が、アーム機構3の第1アームリンク部31の一端側に形成された第1関節部30aに接続されている。第1関節部30aには、第1アームリンク部31に対してハンド機構2を該第1アームリンク部31の軸周りに回転させるためのモータ(図示略)が設けられている。第1アームリンク部31の他端側は、第2関節部30bで第2アームリンク部32の一端側に接続されている。第1アームリンク部31と第2アームリンク部32とはその中心軸が垂直に交わるように接続されている。そして、第2関節部30bには、第2アームリンク部32に対して、第1アームリンク部31を、その他端側を中心に該第2アームリンク部32の軸周りに回転させるためのモータ(図示略)が設けられている。次に、第2アームリンク部32の他端側は、第3関節部30cで第3アームリンク部33の一端側に接続され、第3関節部30cには、第3アームリンク部33に対して第2アームリンク部32を相対的に回転させるためのモータ(図示略)が設けられている。
次に、ハンド機構2の構成について図2から図10に基づいて説明する。図2はハンド機構2の斜視図である。図3はハンド機構2の上面図である。また、図2、図3に示すように、ハンド機構2においては、ベース部20に4本の指部21が、ハンド機構2の長手方向(図3において紙面に垂直な方向)の軸を中心とした円周上に、等角度間隔(すなわち90deg間隔)に配置されている。また、4本の指部21は全て同一の構造を有し且つ同一の長さである。但し、各指部21の動作は、それぞれ独立して制御される。
次に、台座部4の内部に配置されたロボットアーム1の制御装置であるアーム制御装置42と、ハンド機構2の制御装置であるハンド制御装置43の構成について、図11に基づいて説明する。図11は、アーム制御装置42及びハンド制御装置43に含まれる各機能部を示すブロック図である。アーム制御装置42は、ロボットアーム1のアーム機構3に搭載される各モータのドライバに対して、各モータの駆動信号を生成させるための制御信号を供給するように構成される。アーム制御装置42は、演算処理装置及びメモリを有するコンピュータであり、機能部として、アーム制御部420、およびモータ状態量取得部421を有している。各機能部は、アーム制御装置42において所定の制御プログラムが実行されることで形成される。
ここで、図12に基づいて、ロボットアーム1に搭載されたハンド機構2を用いた把持システムによる対象物の把持制御について説明する。当該把持制御は、アーム制御装置42及びハンド制御装置43において所定の制御プログラムが実行されることで実現される。先ず、S101では、ハンド機構2が所定の把持可能位置に移動される。当該処理は、アーム制御装置42のアーム制御部420によって実行される。具体的には、対象物情報取得部430によって取得された対象物情報が、ハンド制御装置43からアーム制御装置42へと引き渡される。そして、この引き渡された対象物情報に基づいて、ハンド機構2が位置すべき所定の把持可能位置、すなわち、対象物に対してハンド機構2が作用することで当該対象物の把持が可能となる位置が算出される。例えば、対象物情報に含まれる対象物の位置情報を基準として、その把持が可能となるように所定距離、当該対象物から離間した位置を所定の把持可能位置として算出してもよい。S101の処理が終了すると、S102へ進む。
図14は、対象物10における接触可能部を特定するための処理のフローチャートである。なお、当該処理の説明に際しては、把持対象となる対象物10は図15に示すように配置されていることを前提とする。この配置状態では、対象物となる直方体形状の物体が4つ連なって置かれており、その手前側に位置する物体が把持の対象となる対象物10であり、それ以外の物体は、対象物10と同形の物体であるが把持の対象ではないため非対象物10’と称する。図15に示す配置状態では、対象物10の底面が床面に接するように置かれているが、更にその対象物10の側面S2及びS3は、図示しない障害物(例えば、物体を収容する容器等)が対象物10の周囲に位置しているため、露出した状態とはなっていない。また、対象物10の背面S5は、背部の非対象物10’に接しているため、同じように露出した状態とはなっていない。なお、このような対象物10の配置状態に関する情報は、対象物情報取得部430によって取得される対象物情報に含まれている。
図16は、対象物10における非露出部を特定するための処理のフローチャートである。なお、当該処理の説明に際しては、把持対象となる対象物10は図15に示すように配置され、且つ、上記の接触可能部を用いた対象物10の傾倒動作が行われることを前提とする。また、当該処理においても、接触可能部特定処理と同様に対象物10に関する対象物情報が利用される。先ず、S301では、対象物10に関する対象物情報に基づいて、対象物10の表面のうち非露出部の候補となる部位の抽出が行われる。この非露出部の候補となる部位は、ハンド機構2の指部21が接触可能となるようには露出していないことを要件として抽出される。したがって、図15に示す配置状態にある対象物10においては、側面S2及びS3と、背面S5と底面が、非露出部の候補として抽出される。
上記把持システムに含まれるハンド機構2の変形例1について、図19に基づいて説明する。なお、図19では、説明の簡略化のために、指部21A及び指部21Cのみを図示し、それら以外の指部21B、21Dの図示を省略している。上記第1の実施例では、指部21Aの第1指リンク部211Aを対象物10の接触可能部101たる上面に接触させながら対象物を傾倒させる際に、指部21A以外の指部21B~21Dを対象物10に接触させていないが、指部21Aの第1指リンク部211Aを対象物10の接触可能部101たる上面に接触させながら対象物を傾倒させる際に、指部21Cの第1指リンク部211Cを対象物10の前面103の下部に接触させることで該接触部分を支点として対象物10を傾倒させるようにしてもよい。なお、対象物10の前面103において指部21Cの第1指リンク部211Cを接触させる位置は、対象物10の高さ方向においては対象物10の上面よりも底面に近い位置であって、且つ対象物10の幅方向(図19中の前後方向)においては指部21Aの第1指リンク部211Aが接触する位置と同等の位置に設定されるものとする。このような変形例によれば、対象物10を傾倒させる際に力点となる部位(指部21Aの接触部位)の位置ずれ、及び対象物10を傾倒させる際に支点となる部位(指部21Cの接触部位)の位置ずれを抑制することができるため、対象物10が傾倒した際の姿勢を把持に適した姿勢にし易くなる。それにより、対象物10をより安定した姿勢で把持することが可能となる。
上記把持システムに含まれるハンド機構2の変形例2について、図20に基づいて説明する。本変形例に係るハンド機構2には、3本の指部21A~21Cが備えられる。これらの指部は、上記実施例と同様にそれぞれ同一の構成を有しているが、図3に示すようにハンド機構2を上方から見たときに、各指部21が、ハンド機構2の長手方向の軸を中心とした円周上に、等角度間隔(すなわち120deg間隔)に配置されている。この場合においては、第1指部に相当する指部21Bの第1指リンク部211Bが対象物10の接触可能部101に接触して対象物を傾倒させる。そして、その傾倒された対象物10に対して、第2指部に相当する指部21Aの第1指リンク部211Aが非露出部102に接触するとともに、第3指部に相当する指部21Cの第1指リンク部211Cが前面103に接触する。
上記第4の実施例での回転把持では、対象物10を縦方向(高さ方向)に回転させて非露出部102を露出させることで対象物10を把持可能な状態としている。すなわち、対象物10の幅方向に延在する軸回りに対象物10を回転させて非露出部102を露出させることで対象物10を把持可能な状態としている。ただし、対象物10の回転方向は縦方向には限られない。例えば、対象物10を回転させて非露出部を露出させる限りにおいて、対象物10をその横方向に回転させてもよく、又は、その縦方向と横方向の間となる斜め方向への回転であってもよい。なお、ここでいう「横方向への回転」とは、対象物10の奥行き方向に延在する軸回りに対象物10を回転させる形態、又は対象物10の高さ方向に延在する軸回りに対象物10を回転させる形態を含む。
上記実施例5では、対象物10の長さ方向において下方側面111(接触可能部101)に近い部位を把持する例について述べたが、対象物10の長さ方向において下方側面111(接触可能部101)から離れた部位(すなわち、対象物10の長さ方向における中心に一層近い部位)を把持するようにしてもよい。図27は、対象物10の長さ方向における中心に近い部位を把持する場合における浮かし把持の実行手順を説明するための図である。図27(a)は、対象物10の一部を床面から浮かせた状態を示し、同図(b)は、非露出部102(底面112)が露出する姿勢で対象物10を支持している状態を示し、同図(c)は、対象物10を縦方向(上下方向)で挟んで把持した状態を示している。
上記実施例5及び上記変形例1では、3本の指部21を有するハンド機構2によって対象物10を浮かし把持する例について述べたが、4本の指部21を有するハンド機構2によって対象物10を浮かし把持することも可能である。図28は、4本の指部21A~21Dを有するハンド機構2による対象物10の浮かし把持を説明するための図である。図28(a)は、対象物10の一部を床面から浮かせた状態を示し、同図(b)は、非露出部102(底面112)が露出する姿勢で対象物10を支持している状態を示し、同図(c)は、対象物10を縦方向(上下方向)で挟んで把持した状態を示している。また、図28に示すハンド機構2においては、4本の指部21A~21Dは、上記実施例と同様にそれぞれ同一の構成を有しているが、図3に示すようにハンド機構2を上方から見たときに、各指部21が、ハンド機構2の長手方向の軸を中心とした円周上に、等角度間隔(すなわち90deg間隔)に配置されているものとする。
上記把持システムに含まれるハンド機構2の変形例1について、図30~図32に基づいて説明する。上記第6の実施例では、対象物10の側面に鍔部115が形成される対象物10であって、該対象物10の背面側に位置する鍔部115が壁面X1に接触している状態の対象物10を、水平ずらし把持する例について述べたが、図30に示すように、直方体形状の物体が横方向に複数連なって置かれており、その両側に他の物体(非対象物10’)が配置されている物体(対象物10)が把持の対象となる場合においても、水平ずらし把持を適用することができる。すなわち、対象物10の接触可能部101たる上面に指部21Aの第1指リンク部211Aを接触させながら該対象物10を手間側(図30中の白抜き矢印の方向)へ向かって水平にずらすことで、非接触部102たる背面を露出させて、該背面と前面とをハンド機構2の2本の指部21A~21Bによって横方向で挟んで挟持することも可能である。また、図30に示す対象物10の両側面が非露出部104として選出された場合は、対象物10の接触可能部101たる上面に指部21Aの第1指リンク部211Aを接触させながら該対象物10を手間側(図30中の白抜き矢印の方向)へ向かって水平にずらすことで、非接触部102たる両側面を露出させて、それら両側面をハンド機構2の2本の指部21A~21Bによって横方向で挟んで挟持することも可能である。
Claims (11)
- 少なくとも2本の指部を有するハンド機構によって対象物を把持するための把持システムであって、
前記対象物を把持するときに前記ハンド機構の前記指部を接触させるための所定の把持部が露出しているかを判定する判定部と、
前記判定部により前記所定の把持部が露出していないと判定されたときに、少なくとも1本の前記指部である第1指部で接触可能な前記対象物における接触可能部と、該判定部による判定時に該第1指部又は該第1指部とは異なる第2指部が接触可能であるように露出していない非露出部と、を特定する特定部と、
前記第1指部で前記接触可能部に接触しながら前記対象物の位置又は姿勢を変化させて、前記第1指部又は前記第2指部が該対象物の前記非露出部に接触可能となるように該非露出部を露出させる第1動作制御部と、
前記第1動作制御部により前記非露出部が露出された状態において、前記第1指部又は前記第2指部を該非露出部に接触させるとともに、該非露出部に接触させている前記指部以外の指部を該非露出部以外の前記対象物の所定の表面に接触させることで、前記対象物を把持する第2動作制御部と、
を備える、把持システム。 - 前記非露出部に接触させている前記指部以外の指部は、前記第1指部及び該第2指部とは異なる第3指部であって、
前記第1動作制御部は、前記第1指部を前記接触可能部に接触させながら前記対象物の底面の一部が床面に接触したまま該対象物を所定の方向に傾倒させて、前記非露出部を露出させ、
前記第2動作制御部は、前記第2指部によって前記非露出部で且つ前記第3指部によって前記所定の表面で前記対象物を把持する、
請求項1に記載の把持システム。 - 前記非露出部に接触させている前記指部以外の指部は、前記第1指部であって、
前記第1動作制御部は、前記第1指部を前記接触可能部に接触させながら、前記対象物を、該対象物とは異なる他の物体に押し付けながらずらすことで、該他の物体に接触している該対象物の所定の背面を前記非露出部として露出させ、
前記所定の表面は、前記接触可能部であって、
前記第2動作制御部は、前記第1指部によって前記所定の表面で且つ前記第2指部によって前記非露出部で前記対象物を把持する、
請求項1に記載の把持システム。 - 前記非露出部に接触させている前記指部の指部は、前記第1指部及び該第2指部とは異なる第3指部であって、
前記第1動作制御部は、前記第1指部を前記接触可能部に接触させて前記対象物が接触している該対象物以外の他の物体との接触面の一部が、該他の物体に接触したまま、該対象物を所定の回転方向に回転させて、前記非露出部を露出させ、
前記第2動作制御部は、前記第2指部によって前記非露出部で且つ前記第3指部によって前記所定の表面で前記対象物を把持する、
請求項1に記載の把持システム。 - 前記所定の回転方向は、前記対象物を縦方向に回転させる方向、又は、該対象物を横方向に回転させる方向である、
請求項4に記載の把持システム。 - 前記判定部により前記所定の把持部が露出していないと判定されたときに、前記第1指部で前記接触可能部を押して前記対象物を該対象物から離れて位置する他の物体に向かって移動させ、該対象物を該他の物体に接触させる位置調整部を更に備え、
前記第1動作制御部は、前記位置調整部によって前記対象物が前記他の物体に接触させられた後に、該対象物を該他の物体に押し付けながら該対象物の位置又は姿勢を変更させて前記非露出部を露出させる、
請求項1から請求項5の何れか1項に記載の把持システム。 - 前記第1動作制御部は、前記位置調整部により前記第1指部が前記接触可能部に接触した状態を維持したまま、前記対象物の位置又は姿勢の変更を行う、
請求項6に記載の把持システム。 - 前記非露出部に接触させている前記指部以外の指部は、前記第1指部及び該第2指部とは異なる第3指部であって、
前記第1動作制御部は、前記第1指部を前記接触可能部に接触させながら前記対象物における前記接触可能部側の部位を持ち上げることで、床面に接触している該対象物の底面を前記非露出部として露出させ、
前記第2動作制御部は、前記第2指部によって前記底面で且つ前記第3指部によって前記所定の表面で前記対象物を把持する、
請求項1に記載の把持システム。 - 前記非露出部に接触させている前記指部以外の指部は、前記第1指部及び該第2指部とは異なる第3指部であって、
前記第1動作制御部は、前記第1指部を前記接触可能部に接触させながら前記対象物における前記接触可能部側の部位を持ち上げることで、床面に接触している該対象物の底面を前記非露出部として露出させ、
前記第2動作制御部は、前記第2指部を前記対象物の底面に接触させることで該対象物の底面が露出した状態を維持しつつ、前記第1指部を前記対象物の底面における前記第2指部の接触位置より奥へ差し込んで、該第1指部と前記第2指部とによって前記底面で且つ前記第3指部によって前記所定の表面で前記対象物を把持する、
請求項1に記載の把持システム。 - 前記非露出部に接触させている前記指部以外の指部は、前記第1指部及び該第2指部とは異なる第3指部及び第4指部であって、
前記第1動作制御部は、前記第1指部を前記接触可能部に接触させながら前記対象物の前記接触可能部側の部位を持ち上げることで、床面に接触している該対象物の底面を前記非露出部として露出させ、
前記第2動作制御部は、前記第2指部を前記対象物の底面に接触させることで該対象物の底面が露出した状態を維持しつつ、前記第4指部を前記対象物の底面における前記第2指部の接触位置より奥へ差し込んで、該第4指部と前記第2指部とによって前記底面で且つ前記第3指部によって前記所定の表面で前記対象物を把持する、
請求項1に記載の把持システム。 - 前記非露出部に接触させている前記指部以外の指部は、前記第2指部であって、
前記第1動作制御部は、前記第1指部を前記接触可能部に接触させながら前記対象物を該対象物が接触している該対象物以外の他の物体から離間する方向へ向けて床面と平行にずらすことで、前記対象物における前記他の物体との接触面を前記非露出部として露出させ、
前記第2動作制御部は、前記第1指部によって前記非露出部で且つ前記第2指部によって前記所定の表面で前記対象物を把持する、
請求項1に記載の把持システム。
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JP2021126706A (ja) * | 2020-02-10 | 2021-09-02 | 株式会社東芝 | ロボットシステムおよびプログラム |
JP7282703B2 (ja) | 2020-02-10 | 2023-05-29 | 株式会社東芝 | ロボットシステムおよびプログラム |
US11820023B2 (en) | 2020-02-10 | 2023-11-21 | Kabushiki Kaisha Toshiba | Robot system and computer program product |
JP7364505B2 (ja) | 2020-03-18 | 2023-10-18 | 株式会社東芝 | ハンドリング装置、制御装置、およびプログラム |
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KR20200007005A (ko) | 2020-01-21 |
DE112018002496T5 (de) | 2020-02-27 |
JPWO2018212203A1 (ja) | 2020-03-12 |
JP7116052B2 (ja) | 2022-08-09 |
KR102352559B1 (ko) | 2022-01-19 |
CN110636924A (zh) | 2019-12-31 |
US11298818B2 (en) | 2022-04-12 |
CN110636924B (zh) | 2022-11-11 |
US20200114508A1 (en) | 2020-04-16 |
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