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Title:
GRIPPING SYSTEM
Document Type and Number:
WIPO Patent Application WO/2018/212189
Kind Code:
A1
Abstract:
A gripping system, wherein a control device servo-controls the location of a prescribed contact site of a prescribed finger part of a hand mechanism according to a prescribed servo-control structure in a manner such that the prescribed contact site moves toward a target location of a target object determined on the basis of target object location information. In addition, before the prescribed contact site reaches the target location, the control device invalidates a location servo-loop that includes a feedback system pertaining at least to the location of the prescribed servo-control structure, when a contact detection unit detects contact with the target object at the prescribed contact site. As a result, it is possible to favorably ascertain the location of a target object.

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Inventors:
MATSUO YOSHIKAZU (JP)
NOMURA YUKI (JP)
KAWABATA SHINJI (JP)
Application Number:
PCT/JP2018/018780
Publication Date:
November 22, 2018
Filing Date:
May 15, 2018
Export Citation:
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Assignee:
THK CO LTD (JP)
International Classes:
B25J13/08; B25J15/08
Foreign References:
JP2015085455A2015-05-07
JP2014108466A2014-06-12
JP2012011531A2012-01-19
JP2015000455A2015-01-05
JPH05318356A1993-12-03
JP2016087749A2016-05-23
JPH10249767A1998-09-22
JP2008149444A2008-07-03
JP2010064155A2010-03-25
JP2011177863A2011-09-15
US9533419B12017-01-03
Attorney, Agent or Firm:
HIRAKAWA, Akira et al. (JP)
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