Title:
GRIPPING DEVICE, AND METHOD FOR CONTROLLING GRIPPING DEVICE
Document Type and Number:
WIPO Patent Application WO/2023/022195
Kind Code:
A1
Abstract:
A gripping device according to the present invention includes: a drive unit including a motor and a detecting unit that detects a position and speed of a rotating shaft of the motor; a motor driving unit that supplies electric power to drive the motor in accordance with an electric current operation value, and detects an electric current value of electric current that is supplied to the motor; a gripping unit including a first finger portion and a second finger portion; a force detecting unit that detects, when gripping an object by the first finger portion and the second finger portion, a gripping force of the first finger portion and the second finger portion gripping the object; and a control unit that outputs the electric current operation value to the motor driving unit such that a gripping force detection value detected by the force detecting unit matches a force command value. When detecting that the first finger portion and the second finger portion come into contact with the object, the control unit takes a position command value as a position detection value detected by the detecting unit.
Inventors:
KIMURA TOSHIKI (JP)
AOKI YUSUKE (JP)
YAMASAKI REIJI (JP)
AOKI YUSUKE (JP)
YAMASAKI REIJI (JP)
Application Number:
PCT/JP2022/031208
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:
| JP2014108466A | 2014-06-12 | |||
| JP2019202406A | 2019-11-28 | |||
| JP2008040886A | 2008-02-21 |
Attorney, Agent or Firm:
ITOH, Tadashige et al. (JP)
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