Title:
END EFFECTOR, END EFFECTOR CONTROL DEVICE, AND METHOD FOR CONTROLLING GRIPPER
Document Type and Number:
WIPO Patent Application WO/2024/048174
Kind Code:
A1
Abstract:
[Problem] The present invention addresses the problem of providing an end effector, etc., with which it is possible to resolve the problem of finger jamming, in which an operation part collides with a surface on which an object is placed and becomes uncontrollable. [Solution] One embodiment of the present invention provides an end effector. The end effector comprises an operation part, a support body, and a detection surface. The operation part is configured to project toward one end, thereby coming into contact with an object. The support body is configured to flexibly support the operation part so that the position and/or orientation of the operation part is displaced when force generated due to contact between the operation part and the object is received. The detection surface is located at the other end of the operation part relative to the one end, the detection surface being configured to not come into contact with the object, and the position and/or orientation of the detection surface being displaced together with that of the operation part. In a state in which the end effector is attached to a robot arm, the detection surface is disposed so as to face a sensor that is capable of measuring the position and/or orientation of the detection surface.
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Inventors:
KOYAMA KEISUKE (JP)
Application Number:
PCT/JP2023/028114
Publication Date:
March 07, 2024
Filing Date:
August 01, 2023
Export Citation:
Assignee:
UNIV OSAKA (JP)
International Classes:
B25J15/08; G01L5/16
Foreign References:
| JP2019525132A | 2019-09-05 | |||
| JP2015034733A | 2015-02-19 | |||
| JP2010221358A | 2010-10-07 |
Attorney, Agent or Firm:
IPX PATENT PARTNERS (JP)
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