Title:
HOLDING CONTROL METHOD FOR ROBOT HAND
Document Type and Number:
WIPO Patent Application WO/2023/157480
Kind Code:
A1
Abstract:
[Problem] To provide a holding control method for a robot hand such that it is possible to easily hold a holding target object in a stable manner, even without the use of image recognition processing via camera imaging. [Solution] A holding control method for a robot hand according to the present invention comprises a holding step S1, a shear force distribution detection step S2, a moment value calculation step S3, a slipping occurrence evaluation step S4, a slipping prediction evaluation step S5, a center-of-gravity position estimation step S6, a holding position movement step S7, and a conveyance continuation step S8.
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Inventors:
WATAZU YUJI (JP)
Application Number:
PCT/JP2022/047912
Publication Date:
August 24, 2023
Filing Date:
December 26, 2022
Export Citation:
Assignee:
NISSHA CO LTD (JP)
International Classes:
B25J13/08
Foreign References:
| JP2012228764A | 2012-11-22 | |||
| JP2013103306A | 2013-05-30 | |||
| JP2013086186A | 2013-05-13 |
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