GRIPPING FORCE-SETTING SYSTEM, GRIPPING FORCE-SETTING METHOD AND GRIPPING FORCE-ESTIMATING SYSTEM

WIPO Patent Application WO/2018/092254

A1

The present invention improves gripping function by adapting to the softness of a gripped object. A gripping force-setting system comprises: a gripper (2) for gripping an object (100) to be gripped that has a given gripping characteristic; a camera (3) and an image-processing device (4) for detecting the deformation amount of a gripped object (100) when the gripper (2) grips the object with a test gripping force; and a controller (5) for setting the operational gripping force of the gripper (2) on the gripped object (100) on the basis of a specific deformation characteristic value calculated on the basis of the ratio of the deformation amount to the test gripping force. The controller (5) sets the operational gripping force within the region in which the deformation amount is linearly proportional to the test gripping force and the specific deformation characteristic value is roughly constant.

JP5163886	Robot control system
JP2017209769	SERVICE SYSTEM AND ROBOT
JP2003208161	ROBOT APPARATUS AND METHOD OF CONTROLLING THE SAME

KOIKE HARUHIKO (JP)
SUGISAKI SATORU (JP)
KIRIHARA KOICHI (JP)
MATSUSHITA SHIGEO (JP)
WATANABE KANJI (JP)

PCT/JP2016/084176

May 24, 2018

November 17, 2016

Click for automatic bibliography generation  

YASKAWA ELECTRIC CORP (JP)

B25J13/00; B25J15/08

JP2009148863A	2009-07-09
JPS60123285A	1985-07-01
JPH0428979U	1992-03-09
JP2015120221A	2015-07-02
JP2014144522A	2014-08-14
JPH04310388A	1992-11-02

MASUDA Hirofumi et al. (JP)

View/Download PDF      PDF Help

Previous Patent: STROKE POSITION RESET PROCESSING METHOD

Next Patent: HEAT-INSULATION MOLD OF RESIN MOLDED PRODUCT