WO2022123849A1 - ロボット、把持力制御装置、把持力制御方法、及び把持力制御プログラム - Google Patents
ロボット、把持力制御装置、把持力制御方法、及び把持力制御プログラム Download PDFInfo
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- WO2022123849A1 WO2022123849A1 PCT/JP2021/033769 JP2021033769W WO2022123849A1 WO 2022123849 A1 WO2022123849 A1 WO 2022123849A1 JP 2021033769 W JP2021033769 W JP 2021033769W WO 2022123849 A1 WO2022123849 A1 WO 2022123849A1
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- Prior art keywords
- force
- driving
- gripping force
- finger
- gripping
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- 238000000034 method Methods 0.000 title claims description 55
- 238000003825 pressing Methods 0.000 claims abstract description 119
- 238000001514 detection method Methods 0.000 claims abstract description 54
- 230000008569 process Effects 0.000 claims description 48
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 238000013461 design Methods 0.000 claims description 5
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- 238000003860 storage Methods 0.000 description 11
- 230000002159 abnormal effect Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
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- 238000004891 communication Methods 0.000 description 2
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- 239000000203 mixture Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
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- 230000035807 sensation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39528—Measuring, gripping force sensor build into hand
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39532—Gripping force sensor build into finger
Definitions
- the present disclosure relates to a robot, a gripping force control device, a gripping force control method, and a gripping force control program.
- Patent Document 1 discloses a robot control device that controls a gripping force of a robot hand based on a supply current supplied to a motor that drives a claw that grips an object.
- Patent Document 2 discloses a device that controls the gripping force of the robot hand based on the pressure detected by the pressure sensor module provided on the side of gripping the work W of the manipulator portion of the robot hand.
- the gripping force that can be set is practically 30 to 40% or more of the rating, not the entire area, and it is difficult to control the electric gripper with a weak force. Therefore, when the range of gripping force required in a plurality of steps is different, it is necessary to use different grippers.
- the weak gripping force cannot be controlled because the detection accuracy and controllability necessary for quickly capturing changes in the gripping force of the gripper cannot be obtained.
- the resolution of the ADC Analog Digital Converter
- the required detection accuracy cannot be obtained due to the low value.
- the control cycle is shortened. This is because it is difficult.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2019-98406
- Patent Document 2 Japanese Patent Application Laid-Open No. 2019-20189
- the present disclosure has been made in view of the above points, and is a robot that can accurately control the gripping force even in a region where the gripping force of the gripper is small, a gripping force control device, a gripping force control method, and a gripping force control.
- the purpose is to provide a program.
- the first aspect of the disclosure is a robot, which is a motor that drives a plurality of fingers gripping an object, a motor that drives at least one of the plurality of fingers as a driving finger, and a drive that detects a driving current of the motor.
- a robot which is a motor that drives a plurality of fingers gripping an object, a motor that drives at least one of the plurality of fingers as a driving finger, and a drive that detects a driving current of the motor.
- a push that calculates the push pressure that the tactile sensor receives from the object based on the drive force calculation unit that calculates the drive force that the drive finger applies to the object and the detection value of the tactile sensor.
- the gripping force setting value which is the setting value of the gripping force applied to the object by the driving finger or the tactile finger, which of the driving force and the pressing force is to be used is determined and used. It is provided with a control unit that controls the gripping force by using the value of the driving force or the pressing force determined to be.
- the second aspect of the disclosure is a gripping force control device, in which a plurality of fingers gripping an object, a motor that drives at least one of the plurality of fingers as a driving finger, and a driving current of the motor are used. It is connected to a robot gripper provided with a drive current detection unit for detection and a tactile sensor provided on a tactile finger which is at least one of the plurality of fingers, and the drive finger or the tactile finger is the target.
- a gripping force control device that controls the gripping force applied to an object, and calculates the driving force applied to the object by the driving finger based on the driving current value of the motor detected by the driving current detecting unit.
- the driving force calculation unit the pressing force calculation unit that calculates the pressing force that the tactile sensor receives from the object based on the detection value of the tactile sensor, and the gripping force setting that is the set value of the gripping force.
- a control unit that determines which of the driving force and the pressing force to be used based on the value and controls the gripping force using the driving force or the pressing force value determined to be used. Be prepared.
- the control unit has the first error and the second error when the command driving force is set to the gripping force set value in order to control the gripping force. It may be decided to use the driving force or the pressing force corresponding to the smaller error.
- the control unit determines whether the gripping force set value is larger than the switching value.
- the gripping force may be controlled by using the value of the driving force or the pressing force corresponding to the smaller error of the first error and the second error specified by the smaller error.
- control unit controls the position of the driving finger to move the driving finger to a position immediately before the plurality of fingers grip the object, and then the gripping force is applied.
- the driving finger may be controlled to move until the magnitude of the driving force or the pressing force used for the control reaches the gripping force set value.
- control unit moves the driving finger so as to sequentially pass through a series of target positions set in stages, and then the driving force or the driving force used for controlling the gripping force.
- the driving finger may be controlled to move until the magnitude of the pressing force reaches the gripping force set value.
- control unit controls the speed of the driving finger to move the driving finger until it detects that the driving finger has come into contact with the object, and then the gripping force is applied.
- the driving finger may be controlled to move until the magnitude of the driving force or the pressing force used for the control reaches the gripping force set value.
- control unit controls the position of the driving finger to move the driving finger to the preparatory movement target position immediately before the plurality of fingers grip the object, and then the driving finger is moved.
- the drive finger moves until the drive finger moves within the target range, or the magnitude of the drive force or the pressing force used for controlling the grip force reaches the grip force set value. It may be controlled.
- control unit drives the driving finger between the open state and the closed state of the plurality of fingers to control the position of the gripper, the driving force, and the pressing force. It may be acquired in series and notified when the difference between the driving force and the pressing force is out of the allowable range.
- control unit drives the driving finger between the open state and the closed state of the plurality of fingers to acquire the pressing force in time series, and obtains the pressing force with the acquired pressing force. It may be notified when the difference from the pressing force acquired in the past is out of the allowable range.
- the gripper includes a gripper product in which a specification of a gripping force range is defined, and the gripper product includes the plurality of fingers, the motor, and the drive current detection unit, and the control thereof.
- the unit acquires the lower limit value of the gripping force range according to the specifications of the gripper product, and the driving finger is less than the lower limit value of the gripping force range according to the specifications of the gripper product with the plurality of fingers closed.
- the gripper includes a gripper product in which a specification of a gripping force range is defined, and the gripper product includes the plurality of fingers, the motor, and the drive current detection unit, and the tactile sensation.
- the specification of the minimum detection value that can be detected is specified, and the control unit sets the lower limit value of the gripping force range according to the specification of the gripper product and the minimum detection value according to the specification of the tactile sensor. It may be acquired and notified when the pressing force corresponding to the minimum detected value is equal to or more than the lower limit value of the gripping force range in the specifications of the gripper product.
- a third aspect of the disclosure is a gripping force control method, in which a plurality of fingers gripping an object, a motor that drives at least one of the plurality of fingers as a driving finger, and a driving current of the motor are used. It is connected to a robot gripper provided with a drive current detection unit for detection and a tactile sensor provided on a tactile finger which is at least one of the plurality of fingers, and the drive finger or the tactile finger is the target. It is a gripping force control method in a gripping force control device that controls a gripping force applied to an object, and the driving finger is added to the object based on the driving current value of the motor detected by the driving current detecting unit.
- the driving force is calculated, the pressing force received by the tactile sensor from the object is calculated based on the detection value of the tactile sensor, and the gripping force setting value which is the setting value of the gripping force is used. Which of the driving force and the pressing force is to be used is determined, and the gripping force is controlled by using the driving force or the pressing force value determined to be used.
- a fourth aspect of the disclosure is a gripping force control program, in which a plurality of fingers gripping an object, a motor that drives at least one of the plurality of fingers as a driving finger, and a driving current of the motor are used. It is connected to a robot gripper provided with a drive current detection unit for detection and a tactile sensor provided on a tactile finger which is at least one of the plurality of fingers, and the drive finger or the tactile finger is the target. It is a gripping force control program in a gripping force control device that controls a gripping force applied to an object, and the driving finger is added to the object based on the driving current value of the motor detected by the driving current detecting unit.
- the driving force is calculated, the pressing force received by the tactile sensor from the object is calculated based on the detection value of the tactile sensor, and the gripping force setting value which is the setting value of the gripping force is used. It is determined which of the driving force and the pressing force is to be used, and the computer is made to execute the process of controlling the gripping force by using the driving force or the pressing force value determined to be used.
- the gripping force can be accurately controlled even in a region where the gripping force of the gripper is small.
- FIG. 1 is a configuration diagram of the robot system 10 according to the first embodiment.
- the robot system 10 includes a robot 20 and a gripping force control device 30.
- the robot system 10 functions as a picking device for picking the work W.
- the robot 20 includes a robot arm AR as a mechanical part that is a target of motion control when performing a picking operation, and a gripper GR attached to the tip of the robot arm AR.
- the gripper GR includes two fingers F1 and F2 for gripping the work W as an example of an object. Although the case where the number of fingers is two is described in the present embodiment, the number of fingers is not limited to two, and three or more fingers may be provided. Further, the fingers F1 and F2 are configured by a plate-shaped member as an example in the present embodiment, but the shapes of the fingers F1 and F2 are not limited to this.
- the gripper GR includes a motor M that drives at least one of the fingers F1 and F2 as a driving finger.
- the motor M is connected to the linear guide LG.
- the linear guide LG includes a conversion mechanism that converts the rotational motion of the motor M into a linear motion.
- Fingers F1 and F2 are attached to the linear guide LG.
- the linear guide LG is driven by the motor M and converts the rotational motion of the motor M with the Z axis as the rotation axis into a linear motion in the X-axis direction.
- the linear guide LG is driven in the direction of closing the fingers F1 and F2, that is, in the direction of gripping the work W.
- the linear guide LG is driven in the direction in which the fingers F1 and F2 are opened, that is, in the direction in which the work W is released.
- the case where the fingers F1 and F2 are driven at the same time when the motor M is rotated will be described, but only one of the fingers F1 and F2 may be driven. That is, in the present embodiment, the case where the driving finger is both the fingers F1 and F2 will be described, but the driving finger may be only one of the fingers F1 and F2.
- the gripper GR includes a drive current detection unit 40 that detects the drive current of the motor M, a motor drive unit 42 that drives the motor M, and a speed detection unit 44 that detects the speed of the motor M (see FIG. 2).
- the speed detection unit 44 detects the positions, speeds, and accelerations of the fingers F1 and F2 based on the output values of an encoder (not shown) provided in the motor M and outputs them to the gripping force control device 30.
- a gripper product in which the specifications of the gripping force range are specified is used.
- This gripper product includes fingers F1 and F2, a motor M, and a drive current detector.
- the gripping force that can be set in the gripper that can set the gripping force is not substantially the entire range of the rating, but 30 to 40% or more of the rating is the specification of the gripping force range. Therefore, for example, in the case of a gripper product having a rating of 100 N, the specification of the gripping force range is, for example, a lower limit value of 40 N and an upper limit value of 100 N.
- tactile sensors S1 and S2 are provided on the gripping surfaces of the fingers F1 and F2, respectively.
- the tactile sensors S1 and S2 detect the pressing force that the tactile sensors S1 and S2 receive from the work W when the fingers F1 and F2 grip the work W.
- the tactile sensors S1 and S2 may be included in the gripper product, or may not be included in the gripper product and may be retrofitted.
- the tactile sensors S1 and S2 are tactile sensors having the same specifications. Further, in the present embodiment, a configuration in which tactile sensors are provided on both fingers F1 and F2, that is, a case where both fingers F1 and F2 are tactile fingers will be described, but only one of the fingers F1 and F2 will be described.
- a tactile sensor may be provided.
- the tactile sensors S1 and S2 are defined with the specifications of the minimum detection value of the pressing force that can be detected. In the tactile sensors S1 and S2, the minimum detection value of the detectable pressing force is smaller than the lower limit of the gripping force range of the gripper product, and the maximum detection value of the detectable pressing force is the gripping force range of the gripper product. Use the one above the lower limit of. For example, when the lower limit of the gripping force range of the gripper product is 40N, the tactile sensors S1 and S2 have a detectable pressing pressure range of, for example, 1N to 100N.
- the pushing pressure is the reaction force of the gripping force, and the direction is opposite to the gripping force and the magnitude is the same.
- the gripping force is a force applied to the work W by the driving finger or the tactile finger.
- the force applied to the other finger when the fingers F1 and F2 are in direct contact with each other and the force is applied to the other finger without gripping the work W is also referred to as a gripping force.
- the gripping force is generated for each of the fingers F1 and F2, but when the influence of gravity is not considered, the gripping forces of the fingers F1 and F2 are opposite to each other and have the same magnitude.
- FIG. 1 shows a configuration in which the tactile sensors S1 and S2 are provided on the surface on the side where the fingers F1 and F2 face each other, but the present invention is not limited to this.
- the tactile sensors S1 and S2 may be provided on the surface opposite to the side on which the fingers F1 and F2 face each other.
- FIG. 3 even when the ring-shaped work W is gripped by inserting the fingers F1 and F2 into the holes of the ring-shaped work W and then driving the fingers F1 and F2 to open. , The pressing force can be detected based on the detected values of the tactile sensors S1 and S2.
- a vertical articulated robot having 6 degrees of freedom, a horizontal articulated robot, or the like is used as an example, but the degree of freedom and type of the robot are not limited to these.
- the gripping force control device 30 controls the robot 20. As shown in FIG. 2, the gripping force control device 30 functionally includes a driving force calculation unit 32, a push pressure calculation unit 34, and a control unit 36.
- the driving force calculation unit 32 calculates the driving force Pi applied to the work W by the fingers F1 and F2, which are the driving fingers, based on the driving current value Ec of the motor M detected by the driving current detecting unit 40.
- the driving force Pi can be calculated by, for example, the following equation.
- Tr is a torque constant and K is a conversion coefficient, each of which is set to a predetermined value.
- the pressing force calculation unit 34 receives the tactile sensors S1 and S2 from the work W by multiplying the detection values of the tactile sensors S1 and S2 provided on the tactile fingers F1 and F2 by predetermined conversion coefficients, respectively.
- the pressing pressures P1 and P2 are calculated. Further, the adjusted pressing force Ps can be calculated by the following equation.
- the adjusted pressing force Ps is used for control.
- the pressing force P1 is used. May be used for control.
- the adjusted pressing force Ps is also simply referred to as a pressing force Ps.
- the tactile sensor S1 is composed of a plurality of pressure sensors, the pressing force P1 is obtained by multiplying the total value of the detected values detected by each pressure sensor by the conversion coefficient. The same applies to the tactile sensor S2.
- one of the fingers F1 and F2 may come into contact with the work W by the time the gripping of the work W by the fingers F1 and F2 is completed.
- a large pressing force is temporarily applied to the tactile sensor provided on the finger that comes into contact with the work W first until the gripping of the work W is completed. Control should not be taken.
- the gripping force may not be limited and the work W may be broken. ..
- the smaller value of the pressing pressures P1 and P2 of the tactile sensors S1 and S2 may be used as the pressing pressure Ps, and if the pressing pressures P1 and P2 have the same value, that value may be used as the pressing pressure Ps.
- the control unit 36 determines which of the driving force and the pressing force is to be used based on the gripping force setting value which is the setting value of the gripping force applied to the work W by the driving finger or the tactile finger, and it is decided to use it.
- the gripping force is controlled using the value of the driving force or the pressing force.
- the control unit 36 uses a force assumed in design as a force applied to the work W by the drive finger as a command drive force, and is a drive current detection unit.
- the magnitude of the difference between the driving force calculated by the driving force calculation unit 32 and the command driving force based on the driving current value detected by 40 is set as the first error, and the pressing force calculated by the pressing force calculation unit 34 is used.
- the magnitude of the difference between the corresponding reaction force and the command driving force is set as the second error
- the first error and the case where the command driving force is set to the gripping force set value in order to control the gripping force and It is determined that the driving force or pressing force corresponding to the smaller error of the second error is used.
- control unit 36 is specified by whether the gripping force set value is larger or smaller than the switching value when the command driving force at which the magnitude relation between the first error and the second error is switched is set as the switching value.
- the gripping force is controlled by using the value of the driving force or the pressing force corresponding to the smaller error of the first error and the second error.
- control unit 36 moves the fingers F1 and F2 to the position immediately before the fingers F1 and F2 grip the work W by controlling the positions of the fingers F1 and F2, and then uses the fingers F1 and F2 for controlling the gripping force.
- the fingers F1 and F2 are controlled to move until the magnitude of the driving force or the pressing force reaches the gripping force set value.
- the gripping force control device 30 includes a CPU (Central Processing Unit) 30A, a ROM (Read Only Memory) 30B, a RAM (Random Access Memory) 30C, a storage 30D, an input unit 30E, a monitor 30F, and an optical disk drive. It has a device 30G and a communication interface 30H. Each configuration is communicably connected to each other via bus 30I.
- CPU Central Processing Unit
- ROM Read Only Memory
- RAM Random Access Memory
- the gripping force control program is stored in the storage 30D.
- the CPU 30A is a central arithmetic processing unit that executes various programs and controls each configuration. That is, the CPU 30A reads the program from the storage 30D and executes the program using the RAM 30C as a work area. The CPU 30A controls each of the above configurations and performs various arithmetic processes according to the program recorded in the storage 30D.
- the ROM 30B stores various programs and various data.
- the RAM 30C temporarily stores a program or data as a work area.
- the storage 30D is composed of an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various programs including an operating system and various data.
- the input unit 30E includes a pointing device such as a keyboard 30E1 and a mouse 30E2, and is used for performing various inputs.
- the monitor 30F is, for example, a liquid crystal display, and displays various information such as a gripping state of the work W.
- the monitor 30F may adopt a touch panel system and function as an input unit 30E.
- the optical disc drive device 30G reads data stored in various recording media (CD-ROM, Blu-ray disc, etc.), writes data to the recording medium, and the like.
- the communication interface 30H is an interface for communicating with other devices, and for example, a standard such as Ethernet (registered trademark), FDDI or Wi-Fi (registered trademark) is used.
- Each functional configuration of the gripping force control device 30 shown in FIG. 2 is realized by the CPU 30A reading out the gripping force control program stored in the storage 30D, deploying it in the RAM 30C, and executing it.
- FIG. 5 is a flowchart showing the flow of the gripping force control process by the gripping force control device 30.
- the CPU 30A reads the gripping force control program from the storage 30D, deploys it to the RAM 30C, and executes the gripping force control process to execute the gripping force control process.
- step S100 the CPU 30A determines whether or not the switching value has been calculated by the control unit 36. Then, if the switching value has not been calculated, the process proceeds to step S102, and if the switching value has been calculated, the process proceeds to step S104.
- step S102 the CPU 30A executes the switching value calculation process shown in FIG. 6 as the control unit 36. Since the switching value is determined according to the characteristics of the gripper GR and the tactile sensors S1 and S2, as long as the gripper GR and the tactile sensors S1 and S2 for which the switching value is calculated are used, a different type of work W may be gripped. The same value can be continuously used when the gripping force set value is changed and the steps S104 and subsequent steps are re-executed in order to perform another task.
- step S104 the CPU 30A sets the gripping force set value as the control unit 36.
- the gripping force set value is set according to the type of the work W.
- table data showing the correspondence between the type of work W and the gripping force set value is stored in the storage 30D in advance, and when the type of work W is specified, the gripping force set value is automatically set by referring to the table data.
- the operator may directly specify the gripping force set value.
- step S106 the CPU 30A, as the control unit 36, determines which of the driving force Pi and the pressing force Ps is used for the gripping force control based on the gripping force set value and the switching value set in the step S104. Specifically, when the gripping force set value is equal to or greater than the switching value, it is determined to use the driving force Pi, and when the gripping force set value is less than the switching value, it is determined to use the pressing force Ps. When determined in this way, the control unit 36 corresponds to the smaller error of the first error and the second error when the command driving force is set to the gripping force set value in order to control the gripping force. The driving force Pi or the pressing force Ps will be used.
- step S108 the CPU 30A executes the gripping force control shown in FIG. 7 as the control unit 36.
- step S110 the CPU 30A determines whether or not all the work Ws have been picked by the control unit 36. Then, when all the work W is picked, the process proceeds to step S112. On the other hand, if all the work W is not picked, the process proceeds to step S108, and the gripping force control is repeated.
- step S112 the CPU 30A, as the control unit 36, determines whether or not to change the work W and continue. Then, for example, when the operator instructs to change the work W and continue, the process proceeds to step S104, and when the operator instructs to end without changing the work W, the routine ends.
- step S200 the CPU 30A controls the motor drive unit 42 as the control unit 36 so that the gripper GR is in a predetermined initial state. Specifically, the control unit 36 closes the fingers F1 and F2 from the non-contact state until the detection values of the tactile sensors S1 and S2 start to increase, and the motor drive unit 42 is in a contact state. To control. After that, the motor drive unit 42 is controlled so that the fingers F1 and F2 open until the detected values of the tactile sensors S1 and S2 reach a value that can be regarded as zero, that is, until the fingers F1 and F2 can be regarded as a non-contact state.
- step S202 the CPU 30A sets the gripping force initial value Start of the gripper GR to the lower limit value g_min of the gripping force range according to the specifications of the gripper GR as the control unit 36.
- step S204 the CPU 30A, as the control unit 36, sets the gripper GR maximum gripping force End to the upper limit value g_max of the gripping force range specified by the gripper GR and the upper limit value of the detection range specified by the tactile sensors S1 and S2. Set to the smaller value of s_max.
- step S206 the CPU 30A sets the command driving force i to the initial gripping force Start set in step S202 as the control unit 36.
- the command driving force i is a force assumed in design as a force applied to the work W by the driving finger when the motor M is driven by a current command value of a certain value.
- step S208 the CPU 30A sets the current command value (output torque) of the gripper GR to a value corresponding to the command driving force i as the control unit 36. That is, the set current command value is output to the motor drive unit 42. As a result, the motor drive unit 42 drives the motor M with the current command value corresponding to the command drive force i.
- step S210 the CPU 30A calculates the driving force Pi of the gripper GR as the driving force calculation unit 32. Specifically, the drive current value Ec of the drive current of the motor M is acquired from the drive current detection unit 40. Then, the driving force Pi of the gripper GR is calculated by the above equation (1).
- step S212 the CPU 30A, as the control unit 36, calculates the first error Eg, which is the magnitude of the difference between the driving force Pi and the command driving force i calculated in step S210, by the following equation.
- step S214 the CPU 30A, as the pressing force calculation unit 34, receives the pressing force Ps that the tactile sensor S1 (S2) and the tactile sensor S2 (S1) receive from each other based on the detection values of the tactile sensors S1 and S2. Calculated by the above equation (2).
- step S216 the CPU 30A, as the control unit 36, calculates the second error Es, which is the magnitude of the difference between the reaction force corresponding to the pressing force Ps calculated in step S214 and the command driving force i, by the following equation.
- step S2108 the CPU 30A, as the control unit 36, determines whether or not the first error Eg calculated in step S212 is larger than the second error Es calculated in step S216. Then, when the first error Eg is larger than the second error Es, the process proceeds to step S220, and when the first error Eg is equal to or less than the second error Es, the process proceeds to step S222.
- the command driving force i is gradually increased starting from the lower limit value g_min of the gripping force range in the specifications of the gripper GR, so that the first error Eg becomes larger than the second error Es at the beginning. I'm assuming.
- step S220 the CPU 30A updates the command driving force i by the following equation as the control unit 36.
- ⁇ is the setting resolution of the driving force of the gripper GR.
- step S224 the CPU 30A, as the control unit 36, determines whether or not the command driving force i is larger than the maximum gripping force End of the gripper GR. Then, when the command driving force i is larger than the maximum gripping force End of the gripper GR, this routine is terminated. On the other hand, when the command driving force i is equal to or less than the maximum gripping force End of the gripper GR, the process proceeds to step S208, and the processes of steps S208 to S224 are repeated until the command driving force i becomes larger than the maximum gripping force End of the gripper GR. ..
- step S222 the CPU 30A sets the switching value to the current command driving force i as the control unit 36. After that, this routine ends.
- the command driving force i is gradually increased, and when the first error Eg becomes the second error Es or less, the command driving force at that time is reached.
- i be the switching value. That is, the command driving force i at which the magnitude relation between the first error Eg and the second error Es is exchanged is used as the switching value.
- step S300 the CPU 30A controls the motor drive unit 42 as the control unit 36 so that the gripper GR performs a preliminary operation. Specifically, as shown in the "position control" of FIG. 8, by controlling the positions of the fingers F1 and F2, the fingers F1 and F2 reach the preliminary movement target position which is the position immediately before gripping the work W. Move F1 and F2.
- the position immediately before gripping the work W is, for example, a position where the distance d in the X-axis direction of the fingers F1 and F2 is slightly longer than the length of the work W in the X-axis direction, that is, the fingers F1 and F2 are the work. This is the position before contacting W.
- step S302 the state value of the gripper GR is acquired.
- the state value includes the current position and speed of the fingers F1 and F2, the drive current value of the motor M, the detection value of the tactile sensors S1 and S2, and the like.
- step S304 the CPU 30A determines whether or not the force used for gripping force control is the pressing force Ps, that is, whether or not the force determined in step S106 of FIG. 5 is the pressing force Ps. Then, when the force used for gripping force control is the pressing force Ps, the process proceeds to step S306, and when the force determined in step S106 of FIG. 5 is not the pressing force Ps, that is, it is determined in step S106 of FIG. If the applied force is the driving force Pi, the process proceeds to step S308.
- step S306 the pressing force Ps is calculated by the above equation (2) based on the detected values of the tactile sensors S1 and S2 acquired in step S302.
- step S308 the driving force Pi is calculated by the above equation (1) based on the driving current value of the motor M acquired in step S302.
- step S310 it is determined whether or not a predetermined completion condition is satisfied.
- the completion condition is, for example, when the pressing force Ps is used for the gripping force control, when the pressing force Ps calculated in step S306 reaches the gripping force set value, the driving force Pi is used for the gripping force control. If this is the case, the driving force Pi calculated in step S308 becomes the gripping force set value.
- step S312 if the predetermined completion condition is not satisfied, the process proceeds to step S312, and if the predetermined completion condition is satisfied, the process proceeds to step S314.
- step S312 the CPU 30 controls the motor drive unit 42 as the control unit 36 so that the fingers F1 and F2 of the gripper GR move to continue the gripping operation of gripping the work W.
- the position control is switched to the speed control from the time of t1 when the preliminary operation of step S300 is completed, and the speed command value is output to the motor drive unit 42.
- the motor M rotates forward so that the fingers F1 and F2 are closed.
- the pressing force Ps calculated in step S306 or the driving force Pi calculated in step S308 is generated. It rises gradually.
- step S314 it is assumed that the roots of the fingers F1 and F2 move even after the fingers F1 and F2 come into contact with the work W due to the flexibility of the tactile sensors S1 and S2 or the fingers F1 and F2. Further, if the work W is flexible, the fingers F1 and F2 also move due to the compression of the work W due to the gripping force. Then, when the pressing force Ps calculated in step S306 or the driving force Pi calculated in step S308 reaches the gripping force set value at the time of t2, the determination in step S310 in FIG. 7 becomes an affirmative determination, and the process proceeds to step S314. do.
- step S314 the CPU 30 controls the motor drive unit 42 as the control unit 36 so that the state in which the work W is gripped by the fingers F1 and F2 is maintained. That is, zero is output to the motor drive unit 42 as a speed command value so that the positions of the fingers F1 and F2 are locked. As a result, the speed control is stopped, and the positions of the fingers F1 and F2 are fixed.
- step S316 the CPU 30 places the work W in a predetermined position as the control unit 36, and then controls the robot arm AR and the motor drive unit 42 so that the gripper GR returns to the predetermined initial position.
- the force assumed in design as the force applied to the work W by the fingers F1 and F2 is defined as the command driving force i and is detected.
- the magnitude of the difference between the driving force Pi calculated based on the driving current value and the command driving force i is set as the first error Eg, and the difference between the reaction force corresponding to the calculated pressing force Ps and the command driving force i.
- the magnitude of is set to the second error Es, the smaller of the first error Eg and the second error Es when the command driving force i is set to the gripping force set value in order to control the gripping force. It is determined to use the driving force Pi or the pressing force Ps corresponding to the error of.
- the gripping force is controlled by using the driving force or pressing force value corresponding to the smaller error of the first error Eg and the second error Es specified by whether the gripping force set value is larger or smaller than the switching value. do. Therefore, the gripping force can be accurately controlled even in a region where the gripping force of the gripper GR is small.
- the fingers F1 and F2 are driven by the position control, as shown in FIG. 8, the fingers F1 and F2 can be moved at high speed to the position immediately before contacting the work W, and the work. W can be gripped at high speed.
- the fingers F1 and F2 are slowly moved until they come into contact with the work W, and the position where the contact of the work W is detected is set as the preliminary movement target position of the next work W. May be good.
- step S312 in FIG. 7 another example of the gripping operation of step S312 in FIG. 7 will be described. Since the configuration of the gripping force control device 30, the processes of FIGS. 5 and 6, and the processes other than step S312 of FIG. 7 are the same as those of the first embodiment, the description thereof will be omitted.
- the pressing force Ps calculated in step S306 or the driving force Pi calculated in step S308 gradually increases.
- the determination in step S310 in FIG. 7 becomes an affirmative determination, and the process proceeds to step S314. do.
- the target position, the speed command value, and the acceleration command value are output to the motor drive unit 42 so that the fingers F1 and F2 sequentially pass through a series of target positions K1 to K6 set in stages.
- the pressing force Ps or the driving force Pi reaches the gripping force set value when the fingers F1 and F2 move to the target position K5
- the movement with the target position as K6 is not executed.
- the fingers F1 and F2 move in stages from the time of t1 so that the work W is gripped.
- the target positions are switched in small steps to control the fingers F1 and F2 to move stepwise, so that even a work W made of a fragile material such as glass can be appropriately gripped. can do.
- step S300 In the third embodiment, another example of the preliminary operation of step S300 and the gripping operation of step S312 of FIG. 7 will be described.
- the configuration of the gripping force control device 30, the processes of FIGS. 5 and 6, and the processes other than steps S300 and S312 of FIG. 7 are the same as those of the first embodiment, and thus the description thereof will be omitted.
- the fingers F1 and F2 are moved by controlling the speeds of the fingers F1 and F2 until it is detected that the fingers F1 and F2 are in contact with the work W.
- Whether or not the fingers F1 and F2 are in contact with the work W is determined by using the pressing force Ps or the driving force Pi. That is, when the force determined in step S106 of FIG. 5 is the pressing force Ps, the pressing force Ps is calculated by the above equation (2), and the calculated pressing force Ps is equal to or higher than the predetermined contact detection level. In this case, it is determined that the fingers F1 and F2 are in contact with the work W.
- the driving force Pi is calculated by the above equation (1), and the calculated driving force Pi is equal to or higher than the predetermined contact detection level. In this case, it is determined that the fingers F1 and F2 are in contact with the work W.
- step S312 as shown in FIG. 10, from the time of t1 when the preliminary operation of step S300 is completed, the fingers F1 and F2 are moved so as to close by speed control with the magnitude of the target speed reduced. With the movement, the pressing force Ps or the driving force Pi gradually increases. Then, when the pressing force Ps calculated in step S306 or the driving force Pi calculated in step S308 reaches the gripping force set value at the time of t2, the determination in step S310 in FIG. 7 becomes an affirmative determination, and the process proceeds to step S314. do.
- the fingers F1 and F2 are moved by speed control until they come into contact with the work W in the preliminary movement, it is not necessary to set the preliminary movement target position, and the work W is gripped by simple control. be able to.
- a value close to the gripping force set value but smaller than the gripping force set value is set as a threshold value, and when the calculated pressing force Ps or driving force Pi becomes equal to or higher than the threshold value, the fingers F1 and F2 are further increased. It may be controlled to decelerate.
- step S310 in FIG. 7 the determination of the completion condition of step S310 in FIG. 7 and another example of the gripping operation of step S312 will be described.
- the configuration of the gripping force control device 30, the processes of FIGS. 5 and 6, and the processes other than steps S310 and S312 of FIG. 7 are the same as those of the first embodiment, and thus the description thereof will be omitted.
- the positions of the fingers F1 and F2 are within the target range by the torque-limited position control from the time of t1 when the preliminary operation of step S300 is completed. Move it like this.
- the target range is, for example, a range in which margins are set in the front and back around a predetermined target position. That is, for example, when the target position is A and the margin is ⁇ , the target range is A ⁇ ⁇ .
- the completion condition of step S310 is the case where the pressing force Ps or the driving force Pi becomes the gripping force set value as the first condition, and the case where the positions of the fingers F1 and F2 are within the target range as the second condition. include. Then, it is assumed that the completion condition is satisfied when at least one of the first condition and the second condition is satisfied. In the example shown in FIG. 11, since the second condition is satisfied, the pressing force Ps or the driving force Pi does not reach the gripping force set value even after the gripping is completed. In another example, if the first condition is satisfied, the positions of the fingers F1 and F2 do not reach the target range even after the grip is completed.
- the completion condition is satisfied. Therefore, for example, when the work W is soft, it is desired not to compress the dimensions of the work W too much. However, the work W can be properly gripped.
- FIG. 12 shows a flowchart of the gripping force control process according to the present embodiment.
- the gripping force control process shown in FIG. 12 is different from the gripping force control process shown in FIG. 5 in that the processes of steps S50 to 54 are added.
- step S50 the CPU 30 determines whether or not there is an abnormality in the tactile sensors S1 and S2 as the control unit 36.
- the fingers F1 and F2 are driven between the open state and the closed state of the fingers F1 and F2, and the position of the gripper GR, the driving force Pi, and the pressing force Ps are acquired in chronological order. It is determined whether or not the difference between the driving force Pi and the pressing force Ps at the same time is out of the allowable range.
- the difference between the driving force Pi and the pressing force Ps is out of the allowable range, it is determined that at least one of the tactile sensors S1 and S2 has an abnormality.
- the area below the lower limit of the gripping force range in the specifications of the gripper product may be excluded from the abnormality determination.
- step S52 the CPU 30 determines, as the control unit 36, whether or not at least one of the tactile sensors S1 and S2 is determined to be abnormal in step S50. If it is not determined, the process proceeds to step S100.
- step S54 a message indicating that at least one of the tactile sensors S1 and S2 is abnormal is displayed on the monitor 30F in step S50 to notify the user.
- the operator can grasp that an abnormality has occurred in at least one of the tactile sensors S1 and S2, and can prevent the gripping force control from being performed while the abnormality has occurred.
- step S50 of FIG. 12 the fingers F1 and F2 are driven between the open state and the closed state to acquire the pressing force Ps in chronological order, and the same finger F1 is obtained. , Whether or not the difference between the pressing force Ps acquired at the time of abnormality determination and the pressing force Ps acquired in the past at the position of F2 is out of the allowable range is determined by comparison with a predetermined threshold value. If it is out of the permissible range, it is determined that at least one of the tactile sensors S1 and S2 has an abnormality.
- the pressing force Ps acquired at the time of abnormality determination may be stored in the storage 30D and used for the next abnormality determination.
- the operator can grasp that an abnormality has occurred in at least one of the tactile sensors S1 and S2, and the gripping force can be grasped while the abnormality has occurred. It is possible to prevent control from being performed.
- the seventh embodiment another example in which the abnormality of the tactile sensors S1 and S2 is determined will be described.
- the configuration of the gripping force control device 30, the processes of FIGS. 6 and 7, and the processes other than step S50 of FIG. 12 are the same as those of the fifth embodiment, and thus the description thereof will be omitted.
- the lower limit value g_min of the gripping force range in the specifications of the gripper product is acquired.
- the lower limit value g_min of the gripping force range is stored in advance in, for example, the storage 30D.
- the fingers F1 and F2 are driven below the lower limit g_min of the gripping force range in the specifications of the gripper product with the fingers F1 and F2 closed, the fingers F1 and F2 are closed. If the detected values of the supposed tactile sensors S1 and S2 cannot be obtained, it is determined to be abnormal. Specifically, as shown in FIG. 13, the command driving force i is gradually increased in a range less than the lower limit value g_min of the gripping force range.
- the pressing force Ps of the tactile sensors S1 and S2 should gradually increase in the range A below the lower limit value g_min of the gripping force range, but the tactile sensors S1 and S2 If S2 is abnormal, the detected value cannot be acquired. Therefore, when the command driving force i is gradually increased within the range of less than the lower limit value g_min of the gripping force range, and the pressing force Ps does not gradually increase with this, it is determined to be abnormal.
- step S50 of FIG. 12 the CPU 30 acquires the lower limit value g_min of the gripping force range in the specifications of the gripper product and the minimum detection value in the specifications of the tactile sensors S1 and S2 as the control unit 36. Then, it is determined whether or not the pressing force Ps corresponding to the minimum detection values of the tactile sensors S1 and S2 is equal to or greater than the lower limit value g_min of the gripping force range in the specifications of the gripper product, and the minimum detection of the tactile sensors S1 and S2 is performed.
- the pressing force Ps corresponding to the value is equal to or greater than the lower limit value g_min of the gripping force range in the specifications of the gripper product, it is determined to be abnormal. That is, when the tactile sensors S1 and S2 cannot detect the detection value corresponding to the pressing force less than the lower limit value g_min of the gripping force range in the specifications of the gripper product, it is determined to be abnormal.
- various processors other than the CPU may execute the gripping force control process executed by the CPU reading the software (program) in each of the above embodiments.
- PLD Programmable Logic Device
- FPGA Field-Programmable Gate Array
- ASIC Application Specific Integrated Circuit
- An example is a dedicated electric circuit or the like, which is a processor having a circuit configuration designed exclusively for the purpose.
- the gripping force control process may be executed by one of these various processors, or a combination of two or more processors of the same type or different types (for example, a plurality of FPGAs, and a CPU and an FPGA). It may be executed by combination etc.).
- the hardware-like structure of these various processors is, more specifically, an electric circuit in which circuit elements such as semiconductor elements are combined.
- the mode in which the picking program is stored (installed) in the storage 30D or ROM 30B in advance has been described, but the present invention is not limited to this.
- the program is provided in a form recorded on a recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versaille Disc Read Only Memory), and a USB (Universal Serial Bus) memory. Further, the program may be downloaded from an external device via a network.
- Robot system 20 Robot 30 Grip force control device 32 Drive force calculation unit 34 Push pressure calculation unit 36 Control unit 40 Drive current detection unit 42 Motor drive unit 44 Speed detection unit F1, F2 Finger GR gripper M Motor S1, S2 Tactile sensor W work
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Abstract
Description
特許文献2:特開2019-200189号公報
20 ロボット
30 把持力制御装置
32 駆動力算出部
34 押圧力算出部
36 制御部
40 駆動電流検出部
42 モータ駆動部
44 速度検出部
F1、F2 指
GR グリッパ
M モータ
S1、S2 触覚センサ
W ワーク
Claims (14)
- 対象物を把持する複数の指と、前記複数の指のうち少なくとも1つの指を駆動指として駆動するモータと、前記モータの駆動電流を検出する駆動電流検出部と、前記複数の指のうち少なくとも1つの指である触覚指に設けられた触覚センサとを備えたグリッパと、
前記駆動電流検出部によって検出された前記モータの駆動電流値に基づいて、前記駆動指が前記対象物に加えている駆動力を算出する駆動力算出部と、
前記触覚センサの検出値に基づいて、前記触覚センサが前記対象物から受けている押圧力を算出する押圧力算出部と、
前記駆動指又は前記触覚指が前記対象物に加える把持力の設定値である把持力設定値に基づいて前記駆動力及び前記押圧力のうち何れを用いるかを決定し、用いることが決定された前記駆動力又は前記押圧力の値を用いて前記把持力を制御する制御部と、
を備えたロボット。 - 対象物を把持する複数の指と、前記複数の指のうち少なくとも1つの指を駆動指として駆動するモータと、前記モータの駆動電流を検出する駆動電流検出部と、前記複数の指のうちの少なくとも1つの指である触覚指に設けられた触覚センサとを備えたロボットのグリッパに接続され、前記駆動指又は前記触覚指が前記対象物に加える把持力を制御する把持力制御装置であって、
前記駆動電流検出部によって検出された前記モータの駆動電流値に基づいて、前記駆動指が前記対象物に加えている駆動力を算出する駆動力算出部と、
前記触覚センサの検出値に基づいて、前記触覚センサが前記対象物から受けている押圧力を算出する押圧力算出部と、
前記把持力の設定値である把持力設定値に基づいて前記駆動力及び前記押圧力のうち何れを用いるかを決定し、用いることが決定された前記駆動力又は前記押圧力の値を用いて前記把持力を制御する制御部と、
を備えた把持力制御装置。 - ある値の電流指令値を与えて前記モータを駆動した場合において、前記駆動指が前記対象物に加える力として設計上想定される力を指令駆動力とし、検出された前記駆動電流値に基づいて算出された前記駆動力と前記指令駆動力との差の大きさを第1誤差とし、算出された前記押圧力に対応する反力と前記指令駆動力との差の大きさを第2誤差としたときに、
前記制御部は、前記把持力を制御するために、前記指令駆動力が前記把持力設定値になるようにした場合の前記第1誤差及び前記第2誤差のうち小さい方の誤差に対応する前記駆動力又は前記押圧力を用いると決定する
請求項2記載の把持力制御装置。 - 前記第1誤差と前記第2誤差との大小関係が入れ替わる前記指令駆動力を切り替え値としたときに、
前記制御部は、前記把持力設定値が前記切り替え値より大きいか小さいかにより特定される前記第1誤差及び前記第2誤差のうち小さい方の誤差に対応する前記駆動力又は前記押圧力の値を用いて前記把持力を制御する
請求項3記載の把持力制御装置。 - 前記制御部は、前記駆動指の位置を制御することにより、前記複数の指が前記対象物を把持する直前の位置まで前記駆動指を移動させ、その後、前記把持力の制御に用いている前記駆動力又は前記押圧力の大きさが前記把持力設定値になるまで前記駆動指が移動するように制御する
請求項2~4の何れか1項に記載の把持力制御装置。 - 前記制御部は、段階的に設定された一連の目標位置を順次通過するように前記駆動指を移動させ、その後、前記把持力の制御に用いている前記駆動力又は前記押圧力の大きさが前記把持力設定値になるまで前記駆動指が移動するように制御する
請求項5記載の把持力制御装置。 - 前記制御部は、前記駆動指の速度を制御することにより、前記駆動指が前記対象物に接触したことを検知するまで前記駆動指を移動させ、その後、前記把持力の制御に用いている前記駆動力又は前記押圧力の大きさが前記把持力設定値になるまで前記駆動指が移動するように制御する
請求項2~4の何れか1項に記載の把持力制御装置。 - 前記制御部は、前記駆動指の位置を制御することにより、前記複数の指が前記対象物を把持する直前の予備動作目標位置まで前記駆動指を移動させ、その後、前記駆動指が目標範囲内に移動するか、又は、前記把持力の制御に用いている前記駆動力又は前記押圧力の大きさが前記把持力設定値になるまで、前記駆動指が移動するように制御する
請求項2~4の何れか1項に記載の把持力制御装置。 - 前記制御部は、前記複数の指が開いた状態と閉じた状態との間で前記駆動指を駆動させて、前記グリッパの位置、前記駆動力、及び前記押圧力を時系列で取得し、前記駆動力と前記押圧力との間の差異が許容範囲外の場合に報知する
請求項2~8の何れか1項に記載の把持力制御装置。 - 前記制御部は、前記複数の指が開いた状態と閉じた状態との間で前記駆動指を駆動させて前記押圧力を時系列で取得し、取得した前記押圧力と過去に取得した前記押圧力との間の差異が許容範囲外の場合に報知する
請求項2~8の何れか1項に記載の把持力制御装置。 - 前記グリッパは、把持力範囲の仕様が規定されたグリッパ製品を含み、前記グリッパ製品は、前記複数の指と、前記モータと、前記駆動電流検出部とを備え、
前記制御部は、前記グリッパ製品の前記仕様上の把持力範囲の下限値を取得し、前記複数の指が閉じている状態で前記グリッパ製品の前記仕様上の把持力範囲の下限値未満で前記駆動指を駆動させているときに、前記複数の指が閉じていることによって生じるはずの前記触覚センサの検出値が取得できない場合に報知する
請求項2~8の何れか1項に記載の把持力制御装置。 - 前記グリッパは、把持力範囲の仕様が規定されたグリッパ製品を含み、前記グリッパ製品は、前記複数の指と、前記モータと、前記駆動電流検出部とを備え、
前記触覚センサについては、検出可能な最小検出値の仕様が規定されており、
前記制御部は、前記グリッパ製品の前記仕様上の把持力範囲の下限値及び前記触覚センサの前記仕様上の最小検出値を取得し、前記最小検出値に対応する前記押圧力が、前記グリッパ製品の前記仕様上の把持力範囲の下限値以上の場合に報知する
請求項2~8の何れか1項に記載の把持力制御装置。 - 対象物を把持する複数の指と、前記複数の指のうち少なくとも1つの指を駆動指として駆動するモータと、前記モータの駆動電流を検出する駆動電流検出部と、前記複数の指のうちの少なくとも1つの指である触覚指に設けられた触覚センサとを備えたロボットのグリッパに接続され、前記駆動指又は前記触覚指が前記対象物に加える把持力を制御する把持力制御装置における把持力制御方法であって、
前記駆動電流検出部によって検出された前記モータの駆動電流値に基づいて、前記駆動指が前記対象物に加えている駆動力を算出し、
前記触覚センサの検出値に基づいて、前記触覚センサが前記対象物から受けている押圧力を算出し、
前記把持力の設定値である把持力設定値に基づいて前記駆動力及び前記押圧力のうち何れを用いるかを決定し、用いることが決定された前記駆動力又は前記押圧力の値を用いて前記把持力を制御する
把持力制御方法。 - 対象物を把持する複数の指と、前記複数の指のうち少なくとも1つの指を駆動指として駆動するモータと、前記モータの駆動電流を検出する駆動電流検出部と、前記複数の指のうちの少なくとも1つの指である触覚指に設けられた触覚センサとを備えたロボットのグリッパに接続され、前記駆動指又は前記触覚指が前記対象物に加える把持力を制御する把持力制御装置における把持力制御プログラムであって、
前記駆動電流検出部によって検出された前記モータの駆動電流値に基づいて、前記駆動指が前記対象物に加えている駆動力を算出し、
前記触覚センサの検出値に基づいて、前記触覚センサが前記対象物から受けている押圧力を算出し、
前記把持力の設定値である把持力設定値に基づいて前記駆動力及び前記押圧力のうち何れを用いるかを決定し、用いることが決定された前記駆動力又は前記押圧力の値を用いて前記把持力を制御する
処理をコンピュータに実行させる把持力制御プログラム。
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