Title:
GRIPPING DEVICE AND CONTROL METHOD FOR GRIPPING DEVICE
Document Type and Number:
WIPO Patent Application WO/2023/022194
Kind Code:
A1
Abstract:
This gripping device comprises a motor that rotates in accordance with an operation value, a gripping unit that comprises a first finger unit and a second finger unit and, by changing the distance between the first finger unit and the second finger unit by means of the motor, grips an object with the first finger unit and the second finger unit, a force detection unit that detects the gripping force with which the first finger unit and the second finger unit are gripping the object when the first finger unit and the second finger unit have gripped the object, and a control unit that outputs the operation value such that the magnitude of the gripping force detected by the force detection unit becomes a command value. The control unit controls the gripping unit using the command value as a reference command value until the gripping unit has gripped the object and then changes the command value from the reference command value to an updated command value on the basis of the change in the gripping force detected by the force detection unit.
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| WO/2004/031878 | ROBOT |
| JPH07129213 | ROBOT CONTROLLER |
| JPS642883 | ROBOT CONTROLLER |
Inventors:
KIMURA TOSHIKI (JP)
AOKI YUSUKE (JP)
YAMASAKI REIJI (JP)
AOKI YUSUKE (JP)
YAMASAKI REIJI (JP)
Application Number:
PCT/JP2022/031207
Publication Date:
February 23, 2023
Filing Date:
August 18, 2022
Export Citation:
Assignee:
MINEBEA MITSUMI INC (JP)
International Classes:
B25J13/08; B25J15/08
Foreign References:
| JP2001096484A | 2001-04-10 | |||
| JPH04322989A | 1992-11-12 | |||
| JP2018079542A | 2018-05-24 |
Attorney, Agent or Firm:
ITOH, Tadashige et al. (JP)
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