Title:
ROBOT CONTROL DEVICE, ROBOT AND ROBOT SYSTEM
Document Type and Number:
Japanese Patent JP2019202360
Kind Code:
A
Abstract:
To provide a robot control device that allows a robot to accurately grip an object in a prescribed state using a first finger part and a second finger part.SOLUTION: The robot control device allows a robot to perform first operation by which a first finger part is contacted with an object and the first finger part is biased toward the object until an output value outputted from a force detection part becomes a prescribed first threshold or more and to perform second operation by which the first finger part and an arm are moved and the first finger part and a second finger part are contacted with the object while keeping a state where the output value outputted from the force detection part is above the first threshold after the first operation; and determines that the object is gripped in a prescribed state by the first finger part and the second finger part, if a difference between a value corresponding to the output value outputted from a first position detection part and a predetermined first value is in a predetermined range, when the output value outputted from the force detection part is smaller than a predetermined second threshold smaller than the first threshold in the second operation.SELECTED DRAWING: Figure 3
More Like This:
| WO/2023/171892 | APPARATUS AND METHOD FOR AUTOMATIC ASSEMBLY OF BREAK SYSTEM |
| WO/2022/015807 | METHOD AND SYSTEM FOR OBJECT GRASPING |
| WO/2000/002030 | LABORATORY SAMPLING PROBE POSITIONING APPARATUS |
Inventors:
OKADA RYUICHI
HASEGAWA FUMIAKI
HASEGAWA FUMIAKI
Application Number:
JP2018097311A
Publication Date:
November 28, 2019
Filing Date:
May 21, 2018
Export Citation:
Assignee:
SEIKO EPSON CORP
International Classes:
B25J13/08
Domestic Patent References:
| JP2015196187A | 2015-11-09 | |||
| JP2014240106A | 2014-12-25 |
Attorney, Agent or Firm:
Yasushi Matsunuma
Kazunori Onami
Hiroyuki Matsumoto
Akio Sato
Kazunori Onami
Hiroyuki Matsumoto
Akio Sato