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Title:
ROBOT DEVICE, AND CONTROL METHOD FOR ROBOT DEVICE
Document Type and Number:
Japanese Patent JP2009066685
Kind Code:
A
Abstract:

To smoothly change between position control and force control when colliding with an object.

When position information or shape information of a grasping object is not correct, grasping may fail, or the grasping object may fall or break. The robot device carries out position control based on acceleration control, and when a finger tip or a hand touches the object, priority is put on giving no large impact force instead of meeting a position command value. Contact force can be correctly added even immediately after the finger tip or hand touches the object, so that grasping or operation can be easily scheduled. Even when colliding with the object during position control, contact force larger than a prescribed value is not generated, and given contact force follows from immediately after the collision.


Inventors:
TAKAHASHI TARO
Application Number:
JP2007235981A
Publication Date:
April 02, 2009
Filing Date:
September 11, 2007
Export Citation:
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Assignee:
SONY CORP
International Classes:
B25J9/16; B25J13/08
Domestic Patent References:
JPH02310609A1990-12-26
JPH1158285A1999-03-02
JP2000042962A2000-02-15
Attorney, Agent or Firm:
Masaaki Miyata
Eiji Yamada
Eiji Sasaki
Toshio Sawada



 
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