Title:
GRIPPING SYSTEM AND CONTROL METHOD FOR SAME
Document Type and Number:
WIPO Patent Application WO/2019/098027
Kind Code:
A1
Abstract:
The present invention provides technology that can, in a gripping system comprising a hand mechanism to grip an object with a plurality of fingers, reduce increases in takt time as much as possible by performing a search operation before a gripping operation. When controlling search operation by a prescribed search finger of the plurality of fingers, this gripping system performs search operation control in a state wherein the shapes of the fingers other than the search finger on the hand mechanism are controlled to be a pre-grip shape, which is the same shape as the shape of the fingers other than the search finger when the hand mechanism is moved to a prescribed position in which gripping is possible during gripping operation control. Thus, the time thereafter to transition from search operation control to gripping operation control is shortened, thereby reducing the takt time.
Inventors:
MATSUO YOSHIKAZU (JP)
KAWABATA SHINJI (JP)
KAWABATA SHINJI (JP)
Application Number:
PCT/JP2018/040503
Publication Date:
May 23, 2019
Filing Date:
October 31, 2018
Export Citation:
Assignee:
THK CO LTD (JP)
International Classes:
B25J15/08; B25J13/08; B25J15/10
Foreign References:
| EP2455198A1 | 2012-05-23 | |||
| JP2009028859A | 2009-02-12 | |||
| JP2012236237A | 2012-12-06 | |||
| JP2015533669A | 2015-11-26 | |||
| JP2015085455A | 2015-05-07 | |||
| JPH04240087A | 1992-08-27 | |||
| JP2016087749A | 2016-05-23 |
Attorney, Agent or Firm:
IP FIRM SHUWA (JP)
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