Title:
ROBOT APPARATUS, SENSOR DEVICE, AND CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2022/264517
Kind Code:
A1
Abstract:
The robot apparatus according to one embodiment of the present feature comprises a hand part, a sensor unit that is capable of elastically deforming, and a control device. The hand part includes at least two fingers, each of which has a gripping surface capable of gripping a workpiece. The sensor unit is disposed on the gripping surface of at least one finger among the two fingers, and has a plurality of detection elements for detecting pressure acting on the gripping surface. The control device has a signal generation unit that is capable of generating a gripping command for causing the hand part to grip the workpiece using a prescribed gripping force and also capable of correcting the gripping force on the basis of the output of the sensor unit and the continuation time of a gripping operation performed on the workpiece.
Inventors:
GOTO TETSURO (JP)
MISONOU TAKEHIRO (JP)
KOBAYASHI KEN (JP)
HASEGAWA HAYATO (JP)
SAKAKURA YOSHIAKI (JP)
MIYAWAKI MANAMI (JP)
TSUKAMOTO KEI (JP)
MISONOU TAKEHIRO (JP)
KOBAYASHI KEN (JP)
HASEGAWA HAYATO (JP)
SAKAKURA YOSHIAKI (JP)
MIYAWAKI MANAMI (JP)
TSUKAMOTO KEI (JP)
Application Number:
PCT/JP2022/006384
Publication Date:
December 22, 2022
Filing Date:
February 17, 2022
Export Citation:
Assignee:
SONY GROUP CORP (JP)
International Classes:
B25J13/08; B25J15/08
Foreign References:
| JPH0569372A | 1993-03-23 | |||
| JP2019098406A | 2019-06-24 | |||
| JP2009066714A | 2009-04-02 | |||
| JP2009034742A | 2009-02-19 |
Attorney, Agent or Firm:
MINAMI AOYAMA PATENT AND TRADEMARK ATTORNEYS (JP)
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