WO2019181213A1 - Dispositif de détection, programme de commande de mécanisme de préhension et procédé de commande de mécanisme de préhension - Google Patents

Dispositif de détection, programme de commande de mécanisme de préhension et procédé de commande de mécanisme de préhension Download PDF

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Publication number
WO2019181213A1
WO2019181213A1 PCT/JP2019/002863 JP2019002863W WO2019181213A1 WO 2019181213 A1 WO2019181213 A1 WO 2019181213A1 JP 2019002863 W JP2019002863 W JP 2019002863W WO 2019181213 A1 WO2019181213 A1 WO 2019181213A1
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WO
WIPO (PCT)
Prior art keywords
gripping
laser light
flexible member
speckle pattern
gripping mechanism
Prior art date
Application number
PCT/JP2019/002863
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English (en)
Japanese (ja)
Inventor
健 宮下
Original Assignee
ソニー株式会社
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Filing date
Publication date
Application filed by ソニー株式会社 filed Critical ソニー株式会社
Publication of WO2019181213A1 publication Critical patent/WO2019181213A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge

Definitions

  • the present technology relates to a detection device, a detection device, a gripping mechanism control program, and a gripping mechanism control method capable of detecting a gripping state in a gripping mechanism that can grip various objects.
  • a gripping device having a gripping mechanism capable of gripping an object is often used for industrial purposes, and in recent years it is also being used for home use.
  • industrial gripping devices such as robots that move specific parts in a factory production line
  • applications and gripping objects are limited, and gripping force set in advance according to the hardness and weight of the gripping object Can be gripped without any problem.
  • the gripping force in the process of lifting the object to be grasped Need to be adjusted. If the gripping force is insufficient, the gripping object may fall, and if the gripping force is excessive, the gripping object may be damaged.
  • Patent Literature 1 discloses a robot control device that acquires a force sense acting on a grasped object using a force sensor such as a pressure sensor.
  • Patent Document 2 discloses a gripping device that detects interference fringes generated in a robot arm by gripping a gripping target and controls the gripping force.
  • Patent Document 3 discloses a gripping mechanism that mounts a rotating plate at the tip of a robot arm and detects a shift of a gripping object.
  • Patent Document 4 discloses a gripping device that brings an elastic body into contact with a gripping object, photographs deformation of the elastic body with a camera, estimates a slip margin between the gripping object and the elastic body, and adjusts a gripping force. Is disclosed.
  • the robot control apparatus described in the cited document 1 cannot stably detect the minute deformation of the flexible part at the tip of the robot arm by the force sensor. Further, in the gripping device described in Patent Document 2, it is necessary to install a camera outside to capture the interference fringes, and there is no problem when used in a factory or the like, but the gripping target is unspecified. In case it becomes a problem.
  • an object of the present technology is to provide a detection device, a gripping mechanism control program, and a gripping mechanism control method that are suitable for gripping an unspecified gripping object without impairing the shape freedom of the gripping mechanism. There is to do.
  • a detection device includes a flexible member, a laser light source, and an imaging device.
  • the flexible member has light transmittance and flexibility.
  • the laser light source emits laser light to the flexible member.
  • the imaging device images the speckle pattern of the laser light.
  • the detection device includes a gripping mechanism including a gripping contact portion that contacts a gripping object, the flexible member, the laser light source, and the imaging device are provided in the gripping contact portion, and the flexible member is A gripping force applied from the mechanism to the gripping object may be transmitted to the gripping object.
  • the gripping force pressing force on the gripping object by the gripping mechanism
  • the gripping object does not move due to gravity even if the gripping mechanism lifts the gripping object, and the relative displacement of the gripping object with respect to the gripping contact portion
  • the flexible member is deformed. According to the above configuration, it is possible to determine the lack of gripping force based on the presence or absence of deformation of the flexible member.
  • the detection apparatus further includes a deformation determination unit that determines deformation of the flexible member based on a change in the speckle pattern, and a control unit that controls the gripping force according to a determination result by the deformation determination unit. May be.
  • the deformation determination unit determines the deformation of the flexible member due to insufficient gripping force, and the control unit can control the gripping force according to the determination result.
  • the control unit may increase the gripping force when the deformation determination unit determines that the flexible member is deformed.
  • the gripping mechanism can reliably grip the gripping target. It becomes possible.
  • the detection device further includes a reflection member that is provided on the opposite side of the flexible member from the laser light source and the imaging device and reflects the laser light.
  • the speckle pattern includes the laser light that reflects the reflection member. The speckle pattern generated by being reflected by may be used.
  • the speckle pattern may be a speckle pattern generated by reflecting the laser beam by an object to be grasped.
  • the speckle pattern generated by the reflection by the object to be grasped can be used for determining the deformation of the flexible member. This is effective when a gripping object is specified as in a production line of a factory.
  • a plurality of the laser light sources and a plurality of the imaging devices may be provided for one flexible member.
  • the detection device may include a plurality of the flexible members, and one of the laser light sources and one of the imaging devices may be provided for each of the flexible members.
  • the flexible members are easily deformed, and it is possible to determine the presence or absence of deformation for each flexible member.
  • a gripping mechanism control program includes a flexible member having optical transparency and flexibility, a laser light source that emits laser light to the flexible member, and speckles of the laser light.
  • a gripping mechanism control program for controlling a gripping mechanism including a gripping contact unit including an imaging device that captures a pattern, and causes an information processing apparatus to operate as a deformation determination unit and a control unit.
  • a gripping mechanism control method includes a flexible member having light transmittance and flexibility, a laser light source that emits laser light to the flexible member, and speckles of the laser light.
  • a gripping mechanism control method for controlling a gripping mechanism including a gripping contact unit including an imaging device that captures a pattern.
  • transformation determination part determines the deformation
  • the control unit controls the gripping force according to the determination result by the deformation determination unit.
  • a detection device As described above, according to the present technology, it is possible to provide a detection device, a gripping mechanism control program, and a gripping mechanism control method that are suitable for gripping an unspecified gripping object without impairing the shape freedom of the gripping mechanism. it can.
  • a detection device according to an embodiment of the present technology will be described.
  • FIG. 1 is a schematic diagram illustrating a configuration of a detection device 100 according to the present embodiment
  • FIG. 2 is a schematic diagram illustrating a manner of gripping a gripping target object S of the detection device 100.
  • the detection apparatus 100 includes a gripping mechanism 110, a gripping mechanism driving unit 120, and a control unit 130.
  • the gripping mechanism 110 includes two gripping arms 111 as shown in FIG.
  • the grip arm 111 is configured to be adjustable in its position and grip force (pressing force applied to the grip target S) by the grip mechanism driving unit 120. Further, the gripping mechanism 110 may include one or three or more gripping arms 111.
  • the gripping arm 111 includes an arm portion 112 and a gripping contact portion 113.
  • the arm unit 112 is connected to the gripping mechanism driving unit 120 and transmits power from the gripping mechanism structure driving unit 120 to the gripping contact unit 113.
  • the gripping contact unit 113 contacts the gripping object S and grips the gripping object S.
  • the gripping contact portion 113 includes a support member 114, a flexible member 115, a reflection member 116, a laser light source 117, and an imaging device 118.
  • the support member 114 is connected to the arm portion 112 and supports the flexible member 115.
  • the support member 114 is provided with a laser light source 117 and an imaging device 118.
  • the flexible member 115 is a member that is fixed to the support member 114 and has light permeability and flexibility, and transmits the gripping force applied to the gripping object S from the gripping mechanism 110 to the gripping object S.
  • the flexible member 115 transmits at least the wavelength band of the laser light emitted from the laser light source 117. Further, the flexible member 115 is flexible enough to cause minute deformation due to the weight of the grasped object S.
  • the flexible member 115 can be made of epoxy rubber.
  • the flexible member 115 may be a bag-shaped member filled with liquid or gas.
  • the reflection member 116 is provided on the opposite side of the flexible member 115 from the support member 114, that is, the opposite side from the laser light source 117 and the imaging device 118, and is a member having light reflectivity.
  • the reflecting member 116 reflects at least the wavelength band of the laser light emitted from the laser light source 117.
  • the reflecting member 116 is a member that comes into contact with the grasped object S as shown in FIG. 2 and preferably has flexibility. Further, the reflecting member 116 does not necessarily have flexibility.
  • the reflection member 116 can be made of, for example, epoxy rubber having a composition different from that of the flexible member 115.
  • the flexible member 115 and the reflective member 116 are collectively referred to as a flexible portion 119.
  • the flexible portion 119 is deformed by the weight of the grasped object S, but only the flexible member 115 may be deformed, and both the flexible member 115 and the reflecting member 116 may be deformed.
  • the laser light source 117 is provided on the support member 114 and emits laser light to the flexible member 115.
  • the configuration of the laser light source 117 is not particularly limited as long as it can emit a laser having a specific wavelength.
  • the laser emitted to the flexible member 115 passes through the flexible member 115 and reaches the reflecting member 116, and is reflected by the reflecting member 116 to generate a speckle pattern described later.
  • the imaging device 118 is provided on the support member 114 and images the speckle pattern.
  • the imaging device 118 only needs to be capable of imaging a speckle pattern, and includes an imaging device such as a CCD (Charge Coupled Device) image sensor, a CMOS (complementary metal oxide semiconductor) image sensor, or a photodetector array, and an imaging optical system. It can be.
  • the imaging device 118 outputs the captured speckle pattern to the control unit 130.
  • the gripping mechanism drive unit 120 is controlled by the control unit 130 to drive the gripping mechanism 110 and cause the gripping mechanism 110 to grip the gripping object S.
  • the gripping mechanism driving unit 120 includes a driving source such as a motor and a power transmission mechanism, and the configuration thereof is not particularly limited.
  • the control unit 130 acquires a speckle pattern from the imaging device 118 and controls the gripping mechanism driving unit 120 based on the speckle pattern.
  • the configuration of the control unit 130 will be described later.
  • FIG. 3 is a schematic diagram illustrating the operation of the detection apparatus 100.
  • laser light L ⁇ b> 1 is emitted from the laser light source 117 to the flexible member 115.
  • the laser light L1 passes through the flexible member 115, reaches the reflecting member 116, and is reflected by the reflecting member 116.
  • the reflected light L 2 passes through the flexible member 115 and enters the imaging device 118.
  • the reflected light L2 forms a speckle pattern.
  • FIG. 4 is a schematic diagram showing the principle of the speckle pattern. As shown in the figure, when the laser beam L is incident on an object (hereinafter, target T), the laser beam L is scattered by the target T, and a pattern (speckle pattern) is formed by interference between the scattered reflected lights. The When scattered light enters the imaging device F, this speckle pattern is imaged.
  • FIG. 5 is an example of a speckle pattern.
  • FIG. 6 is a schematic diagram showing the movement of the speckle pattern. As shown in FIG. 6A, when the angle of the object T changes, the speckle pattern moves from the position P1 to the position P2 accordingly. Further, as shown in FIG. 6B, when the position of the object T moves, the speckle pattern moves from the position P1 to the position P2 accordingly.
  • FIG. 7 is a schematic diagram showing a gripping state of the gripping object S by the gripping mechanism 110.
  • FIG. 7A shows a state where the gripping contact portion 113 is in contact with the gripping object S.
  • the laser light L is emitted from the laser light source 117 in this state, a certain speckle pattern is imaged by the imaging device 118.
  • FIG. 7B shows a state where the gripping force by the gripping mechanism 110 is insufficient.
  • the gripping mechanism 110 is raised in a state where the gripping force is insufficient and the gripping object S is lifted, the gripping object S is displaced in the gravitational direction with respect to the gripping contact portion 113 and the flexible portion 119 is slightly deformed. Arise. As a result, the speckle pattern moves.
  • the gripping object S When the gripping force by the gripping mechanism 110 is sufficiently increased, the gripping object S does not shift with respect to the gripping contact portion 113, and the speckle pattern position returns to the original position.
  • FIG. 8 is a block diagram showing an overall system image of the detection apparatus 100.
  • the drive system of the detection device 100 is realized by an imaging device 118, a control unit 130, a gripping mechanism driving unit 120, and a gripping mechanism 110.
  • the control unit 130 includes a deformation determination unit 131 and a control unit 132.
  • the deformation determination unit 131 acquires a speckle pattern from the imaging device 118, and determines whether the flexible unit 119 is deformed based on the speckle pattern. Specifically, the deformation determination unit 131 determines that the flexible part 119 is deformed if the speckle pattern has moved from a position before the start of gripping (hereinafter referred to as an initial position), and the speckle pattern is determined as the initial position. If it exists in the same position, it will determine with the flexible part 119 not deform
  • the control unit 132 controls the gripping mechanism driving unit 120 based on the determination result by the deformation determining unit 131. Specifically, the gripping mechanism drive unit 120 is controlled so that the gripping force is increased when the flexible portion 119 is deformed and the gripping force is maintained when the flexible portion 119 is not deformed.
  • the gripping mechanism driving unit 120 drives the gripping mechanism 110 under the control of the control unit 132.
  • the gripping mechanism driving unit 120 drives the gripping mechanism 110 so as to grip the gripping object S with a gripping force instructed by the control unit 132.
  • the detection apparatus 100 has the above-described overall image of the system.
  • the control unit 130 is not necessarily provided integrally with the gripping mechanism 110 and the gripping mechanism driving unit 120, and may be provided on an information processing apparatus or a cloud other than these.
  • control unit 130 may include an object recognition processing unit that recognizes a grasped object by object recognition processing.
  • the object recognition processing unit recognizes the shape of the object to be grasped based on the output of an imaging device or a depth sensor (not shown), and supplies the recognition processing result to the control unit 132.
  • the control unit 132 adjusts the position of the gripping arm 111 based on the recognition processing result by the object recognition processing unit, and brings the gripping contact unit 113 into contact with the gripping object S. Thereafter, the gripping force can be adjusted based on the spectrum pattern as described above.
  • control unit 130 includes the object recognition processing unit, it is possible to grip various objects. Further, when the detection apparatus 100 is used for an application in which a gripping target is specified in advance like a factory production line, the object recognition processing unit may not be provided.
  • FIG. 9 is a flowchart illustrating an algorithm of a gripping operation performed by the detection apparatus 100.
  • the algorithm of the gripping operation is executed in a state where the gripping contact unit 113 is in contact with the gripping object S.
  • Laser light is emitted from the laser light source 117 (St101), and the speckle pattern is imaged by the imaging device 118 (St102).
  • the deformation determination unit 131 determines whether or not the flexible member 115 is deformed based on the speckle pattern (St103), and supplies the determination result to the control unit 132.
  • the control unit 132 controls the driving unit 123 to increase the gripping force by the gripping mechanism 110 (St105).
  • the gripping object S is gripped by the gripping mechanism 110.
  • the gripping force of the gripping mechanism 110 is gradually increased until the deformation of the flexible portion 119 due to the weight of the gripping object S is eliminated, and is maintained when the deformation of the flexible portion 119 is resolved.
  • the gripping force becomes the minimum force with which the gripping object S can be gripped, and damage to the gripping object due to an excessive gripping force is prevented.
  • the detection device 100 automatically adjusts the gripping force to the minimum gripping force that can be gripped in the process of gripping the gripping target object, it is a gripping target object whose hardness, shape, weight, etc. are unknown. Can be reliably gripped.
  • the gripping mechanism 110 includes a plurality of gripping arms 111
  • the above algorithm can be executed for each gripping arm 111.
  • FIG. 10 is a schematic diagram illustrating variations in the shape of a gripping target that can be gripped by the gripping mechanism 110.
  • the gripping mechanism 110 includes four gripping arms 111, but the number is not limited to four.
  • FIG. 10A shows a gripping mode when the gripping object S is relatively small with respect to the gripping mechanism 110.
  • the gripping object S can be gripped by the four gripping arms 111.
  • FIG. 10B shows a gripping mode when the gripping object S is relatively long with respect to the gripping mechanism 110.
  • the gripping object S can be gripped by the two gripping arms 111, and the other two can be bent to the side opposite to the gripping target object S so as not to interfere.
  • FIG. 10C shows a gripping mode when the gripping object S is relatively large with respect to the gripping mechanism 110.
  • the gripping object S can be gripped by one gripping arm 111 of each of the two gripping mechanisms 110.
  • FIG. 10D shows a gripping mode when the gripping object S is relatively thin with respect to the gripping mechanism 110 and has a large area.
  • the gripping object S can be gripped by the two gripping arms 111, and the other two can be bent to the side opposite to the gripping target object S so as not to interfere.
  • FIG. 10E shows a gripping mode when the gripping object S is relatively heavy.
  • the side surface of the grasped object S can be supported by the two grasping arms 111, and the bottom surface of the grasped object S can be supported by the one grasping arm 111.
  • the other one can be bent to the opposite side of the grasped object S so as not to interfere.
  • the gripping arm 111 can be prevented from interfering with the gripping target object S by being bent to the opposite side of the gripping target object S.
  • the gripping mechanism 110 it is necessary to make the gripping mechanism 110 freely deformable, and it is important that there is no projecting structure other than the gripping arm 111. is there. From this point of view, a configuration in which the gripping arm is imaged with a camera from the outside is not desirable.
  • FIG. 11 is a table showing examples of objects to be grasped by the grasping mechanism 110. The following scenes are assumed as usage scenes of the detection apparatus 100.
  • FIGS. 12 to 14 are schematic views showing the structure of the gripping contact portion 113, in which (a) is a side view (b) is a front view.
  • the gripping contact portion 113 can be composed of one laser light source 117, one imaging device 118, and one flexible portion 119.
  • the gripping contact portion 113 can be composed of one flexible portion 119, two laser light sources 117, and two imaging devices 118.
  • two laser light sources 117 and two imaging devices 118 it is possible to improve the detection accuracy of deformation of the flexible portion 119. Note that a larger number of laser light sources 117 and imaging devices 118 may be provided.
  • the gripping contact portion 113 may include two flexible portions 119, and each flexible portion 119 may be provided with a laser light source 117 and an imaging device 118.
  • Each laser light source 117 causes laser light to be incident on each flexible member 115, and each imaging device 118 images a speckle pattern incident from each flexible member 115.
  • the flexible portion 119 can be easily deformed.
  • the number of flexible portions 119 is not limited to two, and the number of laser light sources 117 and imaging devices 118 provided for each flexible portion 119 is not limited to one.
  • FIG. 15 is a schematic diagram illustrating a hardware configuration of the control unit 130.
  • the control unit 130 includes a CPU 1001, a memory 1002, a storage 1003, and an input / output unit (I / O) 1004 as hardware configurations. These are connected to each other by a bus 1005.
  • I / O input / output unit
  • a CPU (Central Processing Unit) 1001 controls other configurations according to a program stored in the memory 1002, performs data processing according to the program, and stores a processing result in the memory 1002.
  • the CPU 1001 can be a microprocessor.
  • the memory 1002 stores programs and data executed by the CPU 1001.
  • the memory 1002 can be a RAM (Random Access Memory).
  • the storage 1003 stores programs and data.
  • the storage 1003 can be an HDD (hard disk drive) or an SSD (solid state drive).
  • the input / output unit 1004 receives input to the control unit 130 and supplies the output of the control unit 130 to the outside.
  • the input / output unit 1004 acquires a speckle pattern from the imaging device 108 and supplies a control signal to the gripping mechanism driving unit 120.
  • the deformation determination unit 131 and the control unit 132 are realized by the cooperation of the hardware configuration and the program as described above.
  • the hardware configuration of the control unit 130 is not limited to that described above, and any hardware configuration that can realize the functional configuration of the control unit 130 may be used. A part or all of the hardware configuration may exist on the network.
  • the grip contact portion 113 has the flexible portion 119 composed of the flexible member 115 and the reflective member 116, but the flexible portion 119 does not include the reflective member 116 but includes only the flexible member 115. There may be.
  • the laser light emitted from the laser light source 117 is reflected by the gripping object S, and the speckle pattern is imaged by the imaging device 118.
  • the gripping object S is not specified, the speckle pattern cannot be obtained when the laser beam is not reflected, such as when the gripping object S has light transparency, and the reflection object 116 is provided when the gripping object S is unspecified. Is preferred.
  • the gripping mechanism 110 lifts the gripping object S, that is, grips the gripping object S against gravity, but is not limited thereto.
  • the gripping mechanism 110 can also be used to grip a gripping object to which some force is applied against the force.
  • a flexible member having optical transparency and flexibility;
  • a laser light source for emitting laser light to the flexible member;
  • An imaging device comprising: an imaging device that images the speckle pattern of the laser beam.
  • a gripping mechanism including a gripping contact portion that touches a gripping object is provided,
  • the flexible member, the laser light source, and the imaging device are provided in the grip contact portion,
  • the flexible member detects a gripping force applied to the gripping object from the gripping mechanism to the gripping object.
  • a deformation determination unit that determines the deformation of the flexible member based on a change in the speckle pattern;
  • the detection apparatus which further comprises the control part which controls the said grip force according to the determination result by the said deformation
  • the control unit increases the gripping force when the deformation determination unit determines that the flexible member is deformed.
  • the detection device is provided on the opposite side of the laser light source and the imaging device, and further includes a reflective member that reflects the laser light,
  • the speckle pattern is a speckle pattern generated by reflecting the laser beam by the reflecting member.
  • the detection device is a speckle pattern generated by reflecting the laser beam by an object to be grasped.
  • a plurality of the laser light sources and a plurality of the imaging devices are provided for one flexible member.
  • the detection device Comprising a plurality of the flexible members, One detection apparatus in which one laser light source and one imaging device are provided for each of the flexible members.
  • a gripping mechanism including a gripping contact portion including a flexible member having light permeability and flexibility, a laser light source that emits laser light to the flexible member, and an imaging device that images a speckle pattern of the laser light
  • a gripping mechanism control program for controlling A deformation determination unit that determines the deformation of the flexible member based on a change in the speckle pattern;
  • a gripping mechanism control program that operates the information processing apparatus as a control unit that controls the gripping force according to a determination result by the deformation determination unit.
  • a gripping mechanism including a gripping contact portion including a flexible member having light permeability and flexibility, a laser light source that emits laser light to the flexible member, and an imaging device that images a speckle pattern of the laser light
  • a gripping mechanism control method for controlling The deformation determination unit determines the deformation of the flexible member based on the change in the speckle pattern, A gripping mechanism control method, wherein the control unit controls the gripping force according to a determination result by the deformation determination unit.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

Le problème décrit par la présente invention est de produire un dispositif de détection, un programme de commande de mécanisme de préhension et un procédé de commande de mécanisme de préhension appropriés pour saisir un objet non spécifié à saisir, sans affecter la liberté de la forme d'un mécanisme de préhension. À cet effet, l'invention concerne un dispositif de détection qui, selon la présente technologie, est pourvu d'un élément flexible, d'une source de lumière laser et d'un dispositif de capture d'image. L'élément flexible transmet la lumière et est flexible. La source de lumière laser émet une lumière laser vers l'élément flexible. Le premier dispositif de capture d'image capture une image d'un motif moucheté de la lumière laser.
PCT/JP2019/002863 2018-03-22 2019-01-29 Dispositif de détection, programme de commande de mécanisme de préhension et procédé de commande de mécanisme de préhension WO2019181213A1 (fr)

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JP2018-053703 2018-03-22
JP2018053703A JP2019166577A (ja) 2018-03-22 2018-03-22 検出装置、把持機構制御プログラム及び把持機構制御方法

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CN110842650A (zh) * 2019-12-06 2020-02-28 黄石哈特贝尔精密锻造有限公司 轴承套圈装夹不良的激光探测装置以及轴承套圈加工系统

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JPH08323678A (ja) * 1995-05-25 1996-12-10 Sanyo Electric Co Ltd 柔軟物体把持装置
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