JPWO2022102403A1 - - Google Patents

Info

Publication number
JPWO2022102403A1
JPWO2022102403A1 JP2022561376A JP2022561376A JPWO2022102403A1 JP WO2022102403 A1 JPWO2022102403 A1 JP WO2022102403A1 JP 2022561376 A JP2022561376 A JP 2022561376A JP 2022561376 A JP2022561376 A JP 2022561376A JP WO2022102403 A1 JPWO2022102403 A1 JP WO2022102403A1
Authority
JP
Japan
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2022561376A
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed filed Critical
Publication of JPWO2022102403A1 publication Critical patent/JPWO2022102403A1/ja
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1628Programme controls characterised by the control loop
    • B25J9/1638Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081Touching devices, e.g. pressure-sensitive
    • B25J13/082Grasping-force detectors
    • B25J13/083Grasping-force detectors fitted with slippage detectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0084Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087Dual arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1612Programme controls characterised by the hand, wrist, grip control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1615Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162Mobile manipulator, movable base with manipulator arm mounted on it
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/37Measurements
    • G05B2219/37399Pressure
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/39Robotics, robotics to robotics hand
    • G05B2219/39507Control of slip motion
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/39Robotics, robotics to robotics hand
    • G05B2219/39533Measure grasping posture and pressure distribution

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
JP2022561376A 2020-11-10 2021-10-27 Pending JPWO2022102403A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020187022 2020-11-10
PCT/JP2021/039595 WO2022102403A1 (ja) 2020-11-10 2021-10-27 情報処理装置、情報処理方法、およびプログラム

Publications (1)

Publication Number Publication Date
JPWO2022102403A1 true JPWO2022102403A1 (ja) 2022-05-19

Family

ID=81601001

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022561376A Pending JPWO2022102403A1 (ja) 2020-11-10 2021-10-27

Country Status (5)

Country Link
US (1) US20240100695A1 (ja)
EP (1) EP4245483A4 (ja)
JP (1) JPWO2022102403A1 (ja)
CN (1) CN116507460A (ja)
WO (1) WO2022102403A1 (ja)

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05285864A (ja) * 1992-04-08 1993-11-02 Toshiba Corp 二足移動歩行装置
JPH0628018A (ja) * 1992-07-06 1994-02-04 Fujitsu Ltd 作業位置補正方法
JP4333628B2 (ja) 2005-04-20 2009-09-16 トヨタ自動車株式会社 ロボットハンドの指表面の滑り検知装置
JP2007098501A (ja) * 2005-10-04 2007-04-19 Yaskawa Electric Corp ロボットシステム
JP4702744B2 (ja) 2005-10-20 2011-06-15 株式会社Ihi ガタ・すべりを有する把持機構をもった複数ロボットによる協調搬送システム及び方法
JP2009069028A (ja) * 2007-09-13 2009-04-02 Sony Corp 検出装置および方法、プログラム、並びに記録媒体
JP5942311B2 (ja) 2013-02-25 2016-06-29 パナソニックIpマネジメント株式会社 ロボット、ロボットの制御装置及び制御方法、並びに、ロボット用制御プログラム
JP6827381B2 (ja) 2017-07-12 2021-02-10 株式会社日立製作所 滑り検出システム
EP3862148A4 (en) * 2018-10-05 2021-12-22 Sony Group Corporation INFORMATION PROCESSING DEVICE, CONTROL METHOD AND PROGRAM
US11559884B2 (en) * 2018-11-28 2023-01-24 Kindred Systems Inc. Systems and methods for a passive grasping surface on an active grasping robotic manipulator
JP7247572B2 (ja) * 2018-12-17 2023-03-29 京セラドキュメントソリューションズ株式会社 制御装置

Also Published As

Publication number Publication date
US20240100695A1 (en) 2024-03-28
EP4245483A1 (en) 2023-09-20
EP4245483A4 (en) 2024-04-24
WO2022102403A1 (ja) 2022-05-19
CN116507460A (zh) 2023-07-28

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