WO2020066066A1 - End effecter device - Google Patents
End effecter device Download PDFInfo
- Publication number
- WO2020066066A1 WO2020066066A1 PCT/JP2019/009920 JP2019009920W WO2020066066A1 WO 2020066066 A1 WO2020066066 A1 WO 2020066066A1 JP 2019009920 W JP2019009920 W JP 2019009920W WO 2020066066 A1 WO2020066066 A1 WO 2020066066A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- end effector
- palm
- finger
- approach
- proximity sensor
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Definitions
- the present disclosure relates to an end effector device.
- Patent Literature 1 discloses a robot system including a gripper.
- the grasping unit has two plate-like fingers that are arranged to face each other and are movable so as to approach or separate from each other, and a proximity sensor is provided on each face of each finger that faces each other. Is provided.
- an object of the present disclosure to provide an end effector device that can approach a grasping target object without contacting the grasping target object and an object in a surrounding environment.
- An end effector device includes: A palm and one end in the extending direction are connected to the palm, and a gripping operation of gripping an object to be gripped by moving in a direction crossing the extending direction and approaching each other is possible.
- a plurality of finger portions, and a proximity sensor portion is provided at the other end of the at least one of the plurality of finger portions in the extending direction, and the proximity sensor portion is provided for the grip target in the extending direction.
- End effector A drive device for driving each of the palm portion and the plurality of finger portions of the end effector, A movement control unit that moves the palm toward the gripped object in a state in which the proximity sensor unit is opposed to the gripped object and the grip sensor and the object can be detected by the proximity sensor unit;
- the palm of the object to be grasped is around a palm approaching direction in which the object approaches the object to be grasped, and all of the plurality of finger portions are located between the object to be grasped and the object, and the grasping operation is performed.
- An approach position determining unit that determines an approach position away from the object to be gripped in the palm approach direction, rather than a grip position at which the object can be gripped,
- the movement control unit includes: When the end effector moves to the approach position, the grip target and the object come into contact with each of the palm and the plurality of fingers based on a detection result detected by the proximity sensor. If there is a possibility that the palm part will move, the approach movement of the palm part to the object to be grasped is stopped.
- an end effector in which a proximity sensor is provided on at least one of a plurality of fingers, a driving device for driving a palm of the end effector and each finger, and an object to grip the palm
- a movement control unit for approaching the object, and all of a plurality of finger parts are located between the object to be grasped and the object in the surrounding environment around the palm approaching direction of the object to be grasped and can grasp the object to be grasped by the grasping operation.
- An approaching position determining unit that determines an approaching position distant from the object to be gripped in the palm approaching direction, rather than the gripping position, wherein the movement control unit is configured to perform the operation based on the detection result detected by the proximity sensor unit.
- FIG. 1 is a block diagram illustrating an end effector device according to an embodiment of the present disclosure.
- FIG. 1 is a perspective view illustrating an end effector according to an embodiment of the present disclosure.
- FIG. 3 is a front view of the end effector of FIG. 2.
- FIG. 3 is a plan view of the end effector of FIG. 2.
- FIG. 3 is an enlarged front view of a tip portion of a finger portion in the end effector of FIG. 2.
- FIG. 6 is a perspective view showing a first modification of the end effector of FIG. 2.
- FIG. 13 is a perspective view showing a second modification of the end effector of FIG. 2.
- FIG. 13 is a perspective view showing a third modification of the end effector of FIG. 2.
- FIG. 1 is a block diagram illustrating an end effector device according to an embodiment of the present disclosure.
- FIG. 1 is a perspective view illustrating an end effector according to an embodiment of the present disclosure.
- FIG. 3 is a front view of the end effect
- FIG. 13 is a perspective view showing a fourth modification of the end effector of FIG. 2.
- FIG. 13 is a perspective view showing a fifth modification of the end effector of FIG. 2.
- FIG. 13 is an exemplary perspective view showing a sixth modification of the end effector shown in FIG. 2;
- FIG. 17 is an exemplary perspective view showing a seventh modification of the end effector shown in FIG. 2;
- FIG. 19 is a perspective view showing an eighth modification of the end effector shown in FIG. 2.
- FIG. 19 is an exemplary perspective view showing a ninth modification of the end effector shown in FIG. 2;
- FIG. 21 is an exemplary perspective view showing a tenth modification of the end effector shown in FIG. 2;
- FIG. 21 is an exemplary perspective view showing an eleventh modification of the end effector shown in FIG.
- FIG. 21 is an exemplary perspective view showing a twelfth modification of the end effector shown in FIG. 2;
- FIG. 21 is an exemplary perspective view showing a thirteenth modification of the end effector shown in FIG. 2;
- FIG. 21 is an exemplary perspective view showing a fourteenth modification of the end effector shown in FIG. 2;
- FIG. 2 is a first schematic diagram for explaining each unit constituting a control device of the end effector device of FIG. 1.
- FIG. 2 is a second schematic diagram for explaining each unit constituting the control device of the end effector device in FIG. 1.
- FIG. 3 is a third schematic diagram for describing each unit constituting the control device of the end effector device of FIG. 1.
- FIG. 21 is an exemplary perspective view showing a twelfth modification of the end effector shown in FIG. 2;
- FIG. 21 is an exemplary perspective view showing a thirteenth modification of the end effector shown in FIG. 2;
- FIG. 21 is an exemplary perspective view showing a fourteenth modification of
- FIG. 4 is a fourth schematic diagram for explaining each unit constituting the control device of the end effector device of FIG. 1.
- FIG. 5 is a fifth schematic diagram for explaining each unit constituting the control device of the end effector device of FIG. 1.
- 3 is a flowchart for explaining a first approach process of the end effector device of FIG. 1.
- 3 is a first flowchart for explaining a second approach process of the end effector device of FIG. 1.
- 2 is a second flowchart for explaining a second approach process of the end effector device of FIG. 1.
- the end effector 10 constitutes a part of an end effector device 1 such as a manipulator, for example, as illustrated in FIG.
- the end effector device 1 includes, for example, an end effector 10, an arm 20 connected to the end effector 10, a driving device 30 for driving the end effector 10 and the arm 20, a control device 100 for controlling the driving device 30, An operation unit 40 connected to the control device 100 and a power supply 50 for supplying power to the drive device 30 and the control device 100 are provided.
- the control device 100 controls the drive of the end effector 10 and the arm 20 by outputting a command to the drive device 30 based on the operation received by the operation unit 40.
- the arm 20 is connected to a palm 11 described later of the end effector 10, and can be moved by the driving device 30 so that the position and the posture of the end effector 10 can be arbitrarily changed.
- the drive device 30 includes a motor (not shown) that drives the palm portion 11 and each finger portion 12, and an encoder (not shown) that detects the rotation of the motor, and information detected by the encoder is output to the control device 100. It is configured as follows.
- the end effector 10 includes a palm portion 11 and a plurality of finger portions 12 (two finger portions 12 in this embodiment) connected to the palm portion 11.
- Each finger portion 12 has a base end 121 (see FIG. 4) in the extending direction connected to the palm portion 11 and moves in a direction intersecting the extending direction and approaching each other. It is configured to be able to perform a gripping operation of gripping the gripping target object 60.
- Each finger portion 12 has, for example, a substantially rectangular plate shape, is arranged so that the plate surfaces face each other, and is configured to be movable in a direction orthogonal to the plate surface by the driving device 30. That is, the mutually facing surfaces of the finger portions 12 intersect (for example, orthogonally) in the extending direction of each finger portion 12 to constitute a gripping surface 123 (see FIG. 4) that faces the gripping target object 60.
- the motor that drives each finger unit 12 can be configured by, for example, a linear motor.
- each finger 12 has a proximity sensor 13 provided at a tip 122 (see FIG. 4) in the extending direction.
- Each proximity sensor unit 13 is configured by, for example, a capacitive proximity sensor, and can detect the approach and separation of the proximity sensor unit 13 to and from the object in the extending direction of each finger unit 12, and It is configured to be able to detect the approach and separation of the object to the proximity sensor unit 13 in the extending direction.
- each proximity sensor section 13 is arranged along the edge of the substantially rectangular tip surface 124 of each finger section 12 as viewed from the extending direction of each finger section 12. It has a frame-shaped electrode 131.
- the electrode 131 is arranged symmetrically with respect to a center line CL that is orthogonal to the grip surface 123 and passes through the center of the grip surface 123. That is, the electrode 131 forms the first detection region 14 that covers the edge of the distal end surface 124 of each finger 12 and the second detection region 15 that is disposed inside the first detection region 14.
- the first detection area 14 and the second detection area 15 cover substantially the entire distal end surface 124 of each finger 12.
- each finger 12 in the extending direction thereof is substantially the same, and the distal end surface 124 of each finger 12 is on the same plane orthogonal to the extending direction of each finger.
- the proximity sensor unit 13 of each finger unit 12 is arranged so that the distance to the grip target 60 in the extending direction of each finger unit 12 is substantially the same.
- each finger 12 has the proximity sensor 13 at the distal end in the extending direction, and the proximity sensor 13 is moved from the extending direction of each finger 12.
- the first detection region 14 has a frame shape and covers the edge of the distal end portion 122 in the extending direction of each finger portion 12.
- an object for example, the grasp target 60 or the surrounding environment object 70 shown in FIG. 20
- the end effector 10 capable of detecting approach and separation of the tip 122 of each finger with respect to the object.
- the edge of the tip 122 of each finger 12 can be located at any position.
- the positional relationship between each finger 12 and the object in the extending direction of each finger 12 can be grasped with high accuracy.
- the end effector 10 is approached toward the grasping target 50, it is detected with high accuracy whether each finger 12 can approach without grasping the grasping target 50. can do.
- the proximity sensor unit 13 is constituted by a capacitive proximity sensor.
- the proximity sensor section 13 has a frame-shaped electrode 131 disposed on the edge of the tip 122 of each finger section 12 when viewed from the extending direction of each finger section 12.
- the end effector 10 can detect the approach and the separation of the object with respect to the tip 122 of each finger 12 in the extending direction of each finger 12, and The end effector device 1 can detect the approach and the separation of the tip portion 122 of each finger portion 12 with respect to the end effector device 12.
- the end effector 10 only needs to include a plurality of finger portions 12, and is not limited to a case where the end effector 10 includes two finger portions 12.
- the end effector 10 may be configured to include three fingers 12.
- each finger 12 is not limited to a substantially rectangular shape when viewed from the direction in which each finger 12 extends.
- the distal end 122 of each finger 12 may be configured to have an arc shape when viewed from the direction in which each finger 12 extends.
- the end face 124 of the distal end portion 122 is not limited to the case where the end face 124 is formed by a plane orthogonal to the extending direction of the finger portion.
- the end surface 124 of the distal end portion 122 may be constituted by a curved surface 125 protruding toward the distal end portion 122 in the extending direction of each finger portion. It may be constituted by an inclined surface 126 intersecting with the extending direction.
- the proximity sensor unit 13 may be provided on at least one of the plurality of finger units 12, and is not limited to the case where the proximity sensor unit 13 is provided on each of the plurality of finger units 12.
- the proximity sensor unit 13 has at least the first detection region 14, that is, a frame-shaped detection region that covers the edge of the tip 122 of each finger 12 when viewed from the extending direction of each finger.
- the present invention is not limited to the case where a capacitive proximity sensor having the frame-shaped electrode 131 is used.
- a capacitive proximity sensor having the frame-shaped electrode 131 is used.
- it may be constituted by one or more capacitive sensors having an electrode 131 of an arbitrary shape.
- the proximity sensor unit 13 in FIG. 10 includes one solid electrode 131 that covers substantially the entire distal end surface 124 of each finger unit 12.
- the proximity sensor unit 13 in FIG. 11 is configured by two frame-shaped electrodes 131 having different sizes, and the other electrode 131 is disposed inside one electrode 131.
- the proximity sensor unit 13 shown in FIGS. 12 and 13 includes two linear electrodes 131 having the same size.
- the proximity sensor unit 13 shown in FIGS. 14 and 15 includes two substantially C-shaped electrodes 131 having the same size.
- the proximity sensor unit 13 shown in FIG. 16 includes two frame-shaped electrodes 131 having the same size.
- the proximity sensor unit 13 shown in FIGS. 17 and 18 includes two solid electrodes 131 having the same size. In the proximity sensor unit 13 of FIGS.
- each electrode 131 is disposed along each of a pair of sides orthogonal to the center line CL on the distal end surface 124 of each finger unit 12.
- each electrode 131 is arranged along each of a pair of sides parallel to the center line CL on the distal end surface 124 of each finger unit 12.
- each electrode 131 is perpendicular to the grip surface 123 and viewed from a direction in which the finger unit 12 extends. Are arranged symmetrically. As described above, the proximity sensor unit 13 can be arbitrarily changed in configuration in accordance with the dimensional configuration of each finger unit 12 or the shape and size of the object 60 to be gripped. Of the end effector 10 having a high height.
- the proximity sensor unit 13 is not limited to the capacitive proximity sensor, but may be an optical, inductive, magnetic, or ultrasonic proximity sensor of any type.
- the proximity sensor unit 13 in FIGS. 5, 7, and 11 to 15 is a loop electrode, and can reduce the parasitic capacitance of the proximity sensor unit 13 to increase the detection sensitivity.
- the proximity sensor unit 13 in FIGS. 10 and 16 to 18 is a solid electrode, and can increase the electrode area to increase the detection sensitivity.
- the proximity sensor unit 13 in FIGS. 5, 7, and 10 is a self-capacitance proximity sensor having a single electrode, and can increase the electrode area to increase the detection sensitivity.
- the proximity sensor unit 13 in FIGS. 11 to 18 has a plurality of electrodes and can be configured with a plurality of self-capacitance proximity sensors or one or more mutual capacitance proximity sensors. For example, when the proximity sensor unit 13 shown in FIG.
- the number of surface pixels of the detection area 14 can be increased. It is possible to determine in which direction the finger 12 is moved to avoid contact with the object 60 to be grasped or the object 70 in the surrounding environment when the edge portion is located.
- At least one of the fingers 12 may be configured to include one or both of the first auxiliary proximity sensor 16 and the second auxiliary proximity sensor 17.
- the first auxiliary proximity sensor section 16 is provided on the grip surface 123 and is arranged so as to be able to detect approach and separation of the grip target 60 with respect to the grip surface 123.
- the first auxiliary proximity sensor unit 16 can more accurately grasp the positional relationship between the grip surface 123 of each finger 12 and the grip target 50 when gripping the grip target 50.
- the second auxiliary proximity sensor unit 17 is provided on a surface 127 opposite to the grip surface 123 in a direction intersecting the extending direction of each finger unit 12, and a surface 127 opposite to the grip surface 123.
- an object for example, an obstacle in the surrounding environment
- the second auxiliary proximity sensor unit 17 can more accurately grasp, for example, the positional relationship between each finger unit 12 and an obstacle in the surrounding environment.
- the first and second auxiliary proximity sensor units 16 and 17 are configured by any type of proximity sensor such as a capacitive type, an optical type, an inductive type, a magnetic type and an ultrasonic type, like the proximity sensor unit 13. it can. Further, when the first and second auxiliary proximity sensor units 16 and 17 are configured by a capacitive type, they can be configured by one or more capacitive type sensors having electrodes of an arbitrary shape. The detection results detected by the first and second auxiliary proximity sensors 16 and 17 are output to the control device 100, for example.
- control device 100 of the end effector device 1 will be described.
- the control device 100 transmits a signal between a storage medium such as a CPU for performing calculations and the like, a ROM and a RAM for storing a program or data necessary for controlling the end effector 10, and the like, and the outside of the end effector device 1.
- the interface unit includes an approach position determination unit 110, a finger arrangement determination unit 120, a finger movement determination unit 130, and a movement control unit 140.
- Each of the approaching position determination unit 110, the finger arrangement determination unit 120, the finger movement determination unit 130, and the movement control unit 140 is a function realized by the CPU executing a predetermined program.
- the approach position determination unit 110 is a position of the proximity sensor unit 13 with respect to the grip target 60 in the palm approach direction (that is, the direction of arrow A in FIG. 21) in which the palm 11 of the end effector 10 approaches the grip target 60. Then, an approach position P1 (see FIG. 22) farther from the grasp target 60 in the palm approach direction A than a grasp position P2 (see FIG. 24) described later is determined.
- the approaching position P1 is a position where the end effector 10 does not contact the target object 60 and the object 70 in the surrounding environment, and a required moving time from the approaching position P1 of the end effector 10 to the gripping position P2, It is determined according to the performance, the dimensional configuration of each finger portion 12, or the shape and size of the object 60 to be gripped. Note that, for example, the palm approaching direction substantially coincides with the extending direction of each finger 12 of the end effector 10.
- the approach position determination unit 110 also determines a speed change position P3 that is farther from the grip target 60 than the approach position P1 in the palm approach direction A.
- the movement control section 140 sets the speed change position P3 to the position P0 farther from the grip target object 60 than the speed change position P3. This is a position where the first moving speed, which is the moving speed of the palm 11 between the changing position P3, and the second moving speed smaller than the first moving speed is changed.
- the speed change position P3 is determined by the required movement time from the approach position P1 of the end effector 10 to the gripping position P2, the performance of the driving device 30, the dimensional configuration of each finger 12, or the shape and size of the gripping target 60. It is determined according to the size and the like.
- each of the approach position P1, the speed change position P3, the first moving speed, and the second moving speed may be determined by a user's input, or the approach position determining unit 110 may determine a plurality of values stored in advance. The value may be determined by selecting from among them, or the approach position determination unit 110 may determine the value by user input or correct the value selected by the approach position determination unit 110 based on the detection result detected by the proximity sensor unit 13. May be determined.
- the second moving speed is determined, for example, according to a required moving time from the approach position P1 of the end effector 10 to the gripping position P2 within a range where the end effector 10 can be stopped at the approach position P1.
- the finger arrangement determination unit 120 moves the palm 11 of the grip target 60 toward the grip target 60 based on the detection result detected by the proximity sensor unit 13.
- the end effector 10 contacts the object 70 at a gripping position P2 (see FIG. 24) where the finger portion 12 is located in a space 80 between the gripping target object 60 and the object 70 in the surrounding environment.
- the arrangement is determined whether the arrangement is possible or not.
- the arrangement determination is performed on each finger 12 at the approach position P1 as an example.
- the gripping position P2 is a position where the gripping target 60 can be gripped by gripping each finger 12, and for example, the dimensional configuration of each finger 12 of the end effector 10, or the gripping target 60 It is determined in advance based on the size and the like.
- the finger arrangement determining unit 120 calculates the distance from the determined approach position P1 in the palm approaching direction A to the grip target object 60 from information such as the shape and size of the grip target object 60 input in advance. Then, the finger arrangement determination unit 120 determines the palm approach direction A based on the information on the dimensional configuration of each finger 12, the calculated distance, and the detection result detected by the proximity sensor unit 13 of each finger 12. The positional relationship between each finger unit 12 in the direction orthogonal to the direction, and the grasp target 60 and the surrounding environment object 70 is grasped. Thereby, the finger arrangement determination unit 120 can insert each finger unit 12 into the space 80 between the grasp target 60 and the surrounding environment object 70 without contacting the grasp target object 60 and the surrounding environment object 70. It is determined whether or not. This determination is performed, for example, before moving the end effector 10 to the approach position P1, and after moving the end effector 10 to the approach position P1 and before moving it to the gripping position P2.
- the finger arrangement determination unit 120 determines that it is impossible to arrange each of the plurality of finger parts 12 at the grip position P2 without contacting the object to be gripped 60 and the object 70 in the surrounding environment. Is performed on a part of the plurality of finger portions 12, after the movement control portion 140 performs the first movement described later, the finger portion 12 that has been determined to be able to be arranged before the first movement moves to the second position. After one movement, a first rearrangement determination is made as to whether or not the object can be arranged at the grip position P2 without contacting the object to be gripped 60 or the object 70 in the surrounding environment. The first rearrangement determination is performed in the same manner as the arrangement determination.
- the finger placement determination is performed when the finger unit 12 for which the layout determination was performed before the first movement is determined to be able to be positioned at the grip position P2 after the first movement.
- the unit 120 determines whether or not the finger unit 12, for which the placement failure determination has been made before the first movement, can be placed at the holding position P2 without contacting the holding target object 60 or the surrounding environment object 70 after the first movement.
- a second rearrangement determination is performed. The second rearrangement determination is performed in the same manner as the arrangement determination.
- the finger placement determination unit 120 performs the placement determination each time the movement control unit 140 moves each finger unit 12 at the approach position P1, for example.
- the finger movement determination unit 130 moves the grip target 60 between the grip surfaces 123 of the plurality of finger units 12 when the placement determination or the second rearrangement determination performed by the finger placement determination unit 120 determines that placement is not possible. It is determined whether or not each of the plurality of finger portions 12 can be moved in a direction intersecting the extending direction of each finger portion 12 so that the finger portions 12 can be arranged. In this movement determination, each of the plurality of finger portions 12 may be moved in a direction intersecting the extending direction of each finger portion 12 so that the grasp target 60 can be arranged between the grasping surfaces 123 of the plurality of finger portions 12. When the determination is made that the movement cannot be performed, the finger movement determination unit 130 determines that the grip target 60 cannot be gripped.
- each of the plurality of finger portions 12 is held in the gripping direction B1 (that is, in the direction intersecting the extending direction of each finger portion 12 and approaching each other). It is configured to move the end effector 10 to the approach position P1 in a state of being approached and closed. For this reason, when the disposition determination is made in the placement determination, the movement control unit 140 determines the direction in which each of the plurality of finger parts 12 is separated from each other as the movement direction of the plurality of finger parts 12, and is determined. Each of the plurality of finger portions 12 is moved stepwise along the direction. That is, when the plurality of finger portions 12 cannot move in the direction determined by the movement control unit 140 without performing the arrangement possibility determination, the movement impossible determination is performed.
- the movement control unit 140 controls the driving device 30 based on the result of the determination performed by the approach position determination unit 110, the finger arrangement determination unit 120, and the finger movement determination unit 130, and controls the palm unit 11 and each finger unit 12 Drive.
- the movement control unit 140 drives the palm 11 and each finger as follows.
- the movement control unit 140 moves the end effector 10 to the grip target 60 from a position farther from the grip target 60 than the approach position P1 in the palm approach direction A (for example, a position P0 illustrated in FIGS. 20 and 21). In this case, it is determined whether or not the end effector 10 has moved to the approaching position P1 based on the detection result detected by the proximity sensor unit 13, and if it is determined that the end effector 10 has moved to the approaching position P1, The movement of the end effector 10 is stopped. At this time, as shown in FIG. 21, the end effector 10 is moved to the approach position P1 in a state where each of the plurality of finger portions 12 is close to each other in the gripping direction B1 and is closed. Whether or not the end effector 10 has moved to the approach position P1 is determined based on the distance to the grip target 60 in the palm approach direction A detected by the proximity sensor unit 13.
- the movement control unit 140 determines, before moving the end effector 10 to the approaching position P1, that the finger placement determining unit 120 determines that the position of the grasp target 60 with respect to the end effector 10 in the palm approaching direction A cannot be grasped. Until it is determined that the position of the grasping target 60 with respect to the end effector 10 in the palm approaching direction A can be grasped, the palm unit 11 is moved in a direction intersecting (for example, orthogonally) with the palm approaching direction A.
- the movement control unit 140 detects the detection result of the proximity sensor unit 13 when moving the palm unit 11 toward the grasp target 60 in the palm approach direction A and moving the end effector 10 to the approach position P1. It is determined whether or not there is a possibility that the object to be gripped 60 and the object 70 in the surrounding environment may come into contact with the palm part 11 and each finger part 12 based on. When it is determined that there is a possibility that the grasp target 60 and the surrounding environment object 70 may come into contact with the palm 11 and each finger 12, the movement control unit 140 may grasp the palm 11 in the palm approach direction A. The approach movement to the target object 60 is stopped. In addition, based on the detection result detected by the proximity sensor unit 13, the movement control unit 140 moves the end effector 10 to a speed change position P3 (see FIG.
- the movement control unit 140 drives the palm 11 and each finger as follows.
- the second approach processing is performed after the end of the first approach processing.
- the movement control unit 140 controls the driving device 30 when the placement determination is made in the placement determination or the second rearrangement determination, and moves the palm 11 toward the grasp target 60 in the palm approach direction A.
- Each of the finger portions 12 is inserted into the space 80 between the grasp target 60 and the surrounding environment object 70 without touching the grasp target 60 and the surrounding environment object 70, and the end effector 10 is moved to the grasp position P2. Move.
- the movement control unit 140 controls the driving device 30 to move all of the plurality of finger portions 12 to the length of each of the finger portions 12 when the placement determination is made for all or some of the finger portions 12 in the placement determination.
- a first movement of moving in a direction intersecting (for example, orthogonally) with the existing direction is performed.
- the first movement is performed by moving each finger 12 in a direction B2 away from each other in a direction intersecting the extending direction of each finger 12 and opening the finger.
- the movement control unit 140 intersects the finger portion 12 that has been determined to be rejectable before the first relocation determination is performed in the extending direction of the finger portion 12.
- the palm portion 11 is moved away from the grasping target object 60 in the direction (that is, in the same direction as the direction B2 in which the finger portion 12 determined to be unplaceable before the first rearrangement determination is moved in the first movement). Is performed in a direction intersecting the palm approaching direction A.
- Whether or not the end effector 10 has reached the approach position P1, the grip position P2, and the speed change position P3 is determined by, for example, the proximity of the grip sensor 60 in the palm approach direction A among the plurality of proximity sensors 13. The determination is made based on the detection result detected by the sensor unit 13 (that is, the distance from each proximity sensor unit 13 to the object 60 to be grasped).
- the proximity sensor unit 13 of each finger unit 12 is disposed so that the distance to the grip target 60 in the extending direction of each finger unit 12 is substantially the same. Any of the proximity sensor units 13 may be used to determine whether or not P1, P2, and P3 have been reached.
- the first auxiliary proximity sensor unit 16 can be used to determine whether the end effector 10 has reached the grip position P2. For example, when the first auxiliary proximity sensor unit 16 recognizes the grip target 60, the movement control unit 140 determines that the end effector 10 has reached the grip position P2.
- the first approach processing and the second approach processing will be described with reference to FIGS. These processes described below are performed by the control device 100 executing a predetermined program.
- the amount of movement in the directions B1 and B2 of the finger portions 12 approaching or separating from each other is a minute amount (for example, 1 mm).
- the approach position determination unit 110 determines the approach position P1 and the speed change position P3, and also determines the first movement speed and the second movement speed. (Step S1).
- the movement control unit 140 closes each of the plurality of finger portions 12 of the end effector 10 by approaching each other in the gripping direction B1 (Step S2), and the proximity sensor unit. 13 is started.
- the finger arrangement determination unit 120 determines the position of the grasp target 60 with respect to the palm unit 11 in the palm approach direction A based on the detection result detected by the proximity sensor unit 13. It is determined whether or not it is possible (step S3).
- the movement control unit 140 moves the palm 11 in a direction intersecting the palm approaching direction A (step S4). Steps S3 and S4 are repeated until it is determined that the position of the grip target 60 with respect to the end effector 10 in the palm approaching direction A can be grasped.
- the movement control unit 140 causes the palm 11 to approach the grasp target 60 in the palm approach direction A, and The movement to the approach position P1 is started (step S5).
- the movement control unit 140 When the movement of the end effector 10 to the approach position P1 is started, the movement control unit 140 first holds the palm unit 11 and each finger unit 12 based on the detection result detected by the proximity sensor unit 13. It is determined whether or not the end effector 10 has reached the speed change position P3 while determining whether or not the target object 60 and the surrounding environment object 70 may come into contact with each other (step S6). This step S6 is repeated until the end effector 10 reaches the speed change position P3. If it is determined that there is a possibility that the object to be gripped 60 and the object 70 in the surrounding environment may come into contact with the palm 11 and each finger 12, the movement control unit 140 proceeds to the palm 11 in the palm approaching direction A. The approach movement to the grasping target object 60 is stopped.
- the movement control unit 140 changes the movement speed of the end effector 10 from the first movement speed to a second movement speed smaller than the first movement speed. (Step S7).
- the movement control unit 140 moves the end effector 10 to the approach position P1 based on the detection result detected by the proximity sensor unit 13. It is determined whether or not it has reached (step S8). This step S8 is repeated until the end effector 10 reaches the approach position P1.
- the movement control unit 140 stops the movement of the end effector 10 (Step S9), and the first approach processing ends.
- the end effector 10 in which the proximity sensor unit 13 is provided for each of the plurality of finger units 12, and the driving unit 30 that drives the palm unit 11 of the end effector 10 and each finger unit 12 A movement control unit 140 for bringing the palm 11 closer to the object 60 to be gripped, and all the fingers 12 around the palm approach direction A in the object 60 to be gripped and the object 70 in the surrounding environment
- an approaching position determining unit 110 that determines an approaching position P1 distant from the gripping object 60 in the palm approaching direction A than a gripping position P2 at which the gripping object 60 can be gripped by the gripping operation.
- the movement control unit 140 controls the palm unit 11 and each finger unit 12 to grasp the target object 60 and the surrounding environment object 70. If there is a possibility of contact stops the approaching movement to the gripping target 60 of the palm portion 11. With such a configuration, it is possible to realize the end effector device 1 that can move the end effector 10 to the approach position without contacting the grasp target 60 and the surrounding environment object 70.
- the movement control unit 140 moves the end effector 10 to the approach position P1 in a state where the finger units 12 are close to each other in a direction intersecting the extending direction thereof and are closed.
- the proximity sensor unit 13 of each finger unit 12 can be used as an array, the approach or separation of the grasp target 60 and the surrounding environment object 70 with respect to the end effector 10 in the palm approach direction A can be improved. It can be detected accurately.
- the movement control unit 140 moves the object 60 to be gripped with respect to the end effector 10 in the palm approaching direction A based on the detection result detected by the proximity sensor unit 13. It is determined whether or not the position can be grasped. If it is determined that the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A cannot be determined, the movement control unit 140 determines that the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A can be determined. The end effector 10 is moved in the direction B intersecting with the palm approaching direction A until the end effector 10 moves. With such a configuration, the end effector 10 can be more accurately moved toward the grasp target 60.
- the movement control unit 140 moves the end effector 10 away from the grasping target object 60 more than the approaching position P1.
- the end effector 10 moves to the speed change position P3 between the position P0 farther from the graspable object 60 than the speed change position P3 when moving to the speed change position P3.
- the speed is changed to a second moving speed smaller than the first moving speed.
- steps S2 to S7 can be omitted as necessary. That is, when the end effector 10 is moved to the approach position P ⁇ b> 1, it is not necessary to close each finger 12, and it is determined whether the position of the grasp target 60 with respect to the palm 11 in the palm approach direction A can be grasped. And the moving speed of the end effector 10 need not be changed. Further, one or more of steps S2 to S7 may be omitted, or all of steps S2 to S7 may be omitted.
- step S3 of the first approach process when step S3 of the first approach process is omitted, the position of the grip target 60 with respect to the palm 11 can be determined using an image sensor.
- the proximity sensor section 13 may be provided on at least one of the plurality of finger sections 12, and is not limited to being provided on each of the plurality of finger sections 12.
- step S3 If it is determined in step S3 that the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A cannot be determined, it is determined that the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A can be determined.
- the first approach process may be terminated at that time, instead of repeating step S6 until the process is performed.
- the movement control unit 140 moves the plurality of finger units 12 of the end effector 10 away from each other based on the input information of the grasp target 60.
- the finger placement determining unit 120 determines whether or not all the fingers 12 can be placed at the grip position P2 (step S12).
- FIG. 26 shows a process in the case where a placement failure determination is made for all the finger portions 12 in this placement determination. 27.
- the movement control unit 140 gradually moves each finger unit 12 in the gripping direction B1 approaching each other in step S11. It is configured to be moved and closed.
- step S12 when it is determined that all the fingers 12 can be arranged, the movement control unit 140 moves the end effector 10 to the grip position P2 (step S13). ), The second approach process ends.
- the finger movement determination unit 130 determines whether or not the finger parts 12 can be opened by moving the finger parts 12 away from each other.
- the movement determination is performed (step S14).
- the movement control unit 140 moves the fingers 12 in the direction B2 away from each other. (Step S15), and the process returns to step S12, where the finger placement determination unit 120 again performs placement determination.
- the finger movement determination unit 130 determines that the grip target 60 cannot be gripped. Then (step S16), the second approach processing ends.
- the finger movement determination unit 130 moves each finger part 12 in a direction away from each other. It is determined whether or not it can be opened (step S21).
- the movement control unit 140 performs the first movement in which the finger units 12 are moved in the direction B2 away from each other and opened (step S22).
- the finger arrangement determination unit 120 determines that the finger unit 12, for which the arrangement possibility has been determined before the first movement, comes into contact with the grasp target 60 or the object 70 in the surrounding environment after the first movement.
- a first rearrangement determination is made as to whether or not it can be arranged at the gripping position P2 (step S23).
- the finger placement determining unit 120 determines that the finger unit 12 that has been determined to be unplaceable before the first movement moves to the grip target 60 or the surrounding environment after the first movement.
- a second rearrangement determination is made as to whether or not the object 70 can be arranged at the grip position P2 without touching the object 70 (step S24).
- the movement control unit 140 holds the end effector 10. After moving to the position P2 (step S13), the second approach process ends.
- the finger movement determination unit 130 determines that the grip target object 60 cannot be gripped (step S16), and the second approach process ends.
- the movement control unit 140 determines whether the finger 12 that has been determined to be repositionable before the first relocation determination is performed extends in the direction in which the finger 12 extends. A second movement of moving the palm portion 11 in a direction intersecting with the palm approaching direction A is performed so as to move away from the grasping target object 60 in a direction intersecting (step S25). When the second movement is performed, the process returns to step S12, and the finger placement determination unit 120 again performs the placement determination.
- step S24 When the placement rejection determination is made in the second relocation determination in step S24, the process returns to step S21, and the finger movement determination unit 130 performs the movement determination again.
- step S11 when the finger units 12 are moved stepwise in the gripping direction B1 approaching each other and closed, in step S25, the finger units 12 determined to be unplaceable before the first rearrangement determination is performed.
- the second movement is performed so as to approach the gripping target object 60 in a direction intersecting the extending direction of the finger portion 12.
- the end effector 10 in which the proximity sensor unit 13 is provided for each of the plurality of finger units 12, and the driving unit 30 that drives the palm unit 11 of the end effector 10 and each finger unit 12
- a finger placement determining unit 120 that determines whether or not each of the plurality of finger units 12 can be placed at the grip position P2 without contacting the grip target object 60 and the surrounding environment object 70, and a placement in the placement determination.
- a movement control unit 140 that moves the end effector 10 to the grip position P2 when the determination is possible and moves each finger 12 in a direction that intersects with the extending direction when the disposition determination is performed in the placement determination. It has. With such a configuration, it is possible to realize the end effector device 1 that can be disposed at a position where the grip target object 60 can be gripped (that is, the grip position P2) without contacting the grip target object 60 and an object in the surrounding environment.
- the finger placement determining unit 120 moves all of the plurality of finger parts 12 in a direction intersecting the extending direction thereof.
- the finger unit 12 which has been determined to be able to be arranged before the first movement, comes into contact with the grasp target 60 or the surrounding environment object 70 after the first movement.
- the relocation determination is performed to determine whether or not the relocation can be performed at the grip position P2 without performing the relocation.
- the movement control unit 140 determines that the finger 12 that has been determined to be unplaceable before the relocation determination is performed in the direction that intersects the extending direction of the finger 12. A second movement of moving the palm 11 in a direction intersecting the palm approaching direction A is performed so as to approach or separate from the palm 60. With such a configuration, the amount of driving of the arm 20 when the end effector 10 is moved to the grip position P2 can be reduced.
- each of the plurality of finger portions 12 is moved in a direction intersecting the extending direction so that the grasp target 60 can be disposed between the plurality of finger portions 12.
- the apparatus further includes a finger movement determination unit 130 that determines whether movement is possible.
- the finger movement determination unit 130 determines that the grip target 60 cannot be gripped when the movement determination is made by the movement determination. With such a configuration, it is possible to accurately and quickly determine whether or not the grip target object 60 can be gripped.
- steps S16 and S25 can be omitted. That is, the finger movement determination unit 130 may be omitted, or the second movement may not be performed when the placement failure determination is made in the first rearrangement determination.
- the finger part 12 for which the placement determination is performed is performed without performing the first movement in step S22.
- the palm 11 may be moved in a direction intersecting with the palm approaching direction A so as to approach the object 60 to be grasped.
- the end effector device 1 includes: The palm part 11 and one end 121 in the extending direction are connected to the palm part 11, and each of the palm parts 11 is moved in a direction crossing the extending direction and in a direction approaching each other to grip the grip target 60.
- a plurality of fingers 12 capable of performing a gripping operation, and a proximity sensor 13 is provided at the other end 122 in the extending direction of at least one of the plurality of fingers 12; ,
- the approach or separation of the proximity sensor unit 13 with respect to the grip target object 60 and the surrounding environment object 70 in the extension direction can be detected, and the grip target object with respect to the proximity sensor unit 13 in the extension direction.
- An end effector 10 arranged to detect approach or separation of the object 60 and the object 70;
- a driving device 30 for driving each of the palm portion 11 and the plurality of finger portions 12 of the end effector 10,
- the palm unit 11 approaches the grip target 60 in a state where the proximity sensor unit 13 is opposed to the grip target 60 and the proximity sensor unit 13 can detect the grip target 60 and the surrounding environment object 70.
- a movement control unit 140 for causing The palm 11 of the grasping target 60 approaches the palm approaching direction A in which the palm 11 approaches the grasping target 60, and all of the plurality of fingers 12 are located between the grasping target 60 and the object 70.
- the movement control unit 140 includes: When the end effector 10 moves to the approach position P ⁇ b> 1, the object to be gripped is applied to each of the palm 11 and the plurality of fingers 12 based on a detection result detected by the proximity sensor 13. When there is a possibility that the object 60 comes into contact with the object 60, the approach movement of the palm 11 to the object 60 to be grasped is stopped.
- the end effector device 1 of the first aspect it is possible to realize the end effector device 1 that can move the end effector 10 to the approach position without contacting the grasp target 60 and the object 70 in the surrounding environment.
- the end effector device 1 includes: The end effector 10
- the proximity sensor unit 13 is provided on each of the plurality of finger units 12,
- the movement control unit 140 includes: The end effector 10 is moved to the approach position P1 in a state where each of the plurality of finger portions 12 is close to each other in a direction intersecting the extending direction and is closed.
- the proximity sensor unit 13 of each finger unit 12 can be used as an array. Approach or separation can be detected more accurately.
- the end effector device 1 includes:
- the movement control unit 140 includes: Before moving the end effector 10 to the approach position P1, the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A is grasped based on the detection result detected by the proximity sensor unit 13. It is determined whether or not it is possible.
- the end effector 10 can be more accurately moved toward the grasp target 60.
- the end effector device 1 includes:
- the movement control unit 140 includes: When it is determined that the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A cannot be determined, it is determined that the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A can be determined. Until the end effector 10 moves in the direction intersecting the palm approaching direction A.
- the end effector 10 can be more accurately moved toward the object 60 to be grasped.
- the end effector device 1 includes: The movement control unit 140 includes: Based on the detection result detected by the proximity sensor unit 13, it is determined whether the end effector 10 has moved to the approach position P1.
- the end effector device 1 of the fifth aspect it is possible to determine whether or not the end effector 10 has moved to the approach position P1 without providing any device such as an encoder.
- An end effector device 1 includes:
- the movement control unit 140 includes: In the palm approach direction A, when the end effector 10 moves to a speed change position P3 farther from the grip target object 60 than the approach position P1, the end effector 10 is farther from the grip target object 60 than the speed change position P3. From the first moving speed, which is the moving speed of the end effector 10 between the moved position P0 and the speed changing position P3, to a second moving speed smaller than the first moving speed.
- the end effector of the present disclosure can be applied to, for example, an end effector device of an industrial robot.
- the end effector device of the present disclosure can be applied to, for example, an industrial robot.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
This end effecter device is provided with: an end effector that comprises a proximity sensor part provided to the tip end of at least one finger; a drive device for driving the end effector; a movement control unit that, on the basis of a detection result by the proximity sensor part, moves a palm portion so as to approach an object to be grasped in a state where the proximity sensor part is positioned to face the object to be grasped so as to cause the proximity sensor part to be able to detect the object to be grasped and other objects; and an approaching position determination unit for determining an approaching position which is farther from the object to be grasped, along the direction of the approaching palm, than the grasp position where the object to be grasped can be grasped by a grasping operation of the finger.
Description
本開示は、エンドエフェクタ装置に関する。
The present disclosure relates to an end effector device.
特許文献1には、把持部を備えたロボットシステムが開示されている。このロボットシステムでは、把持部は、対向するように配置されかつ相互に接近または開離可能に可動する2つの板状の指部を有し、各指部の相互に対向する面に、近接センサが設けられている。
Patent Literature 1 discloses a robot system including a gripper. In this robot system, the grasping unit has two plate-like fingers that are arranged to face each other and are movable so as to approach or separate from each other, and a proximity sensor is provided on each face of each finger that faces each other. Is provided.
前記ロボットシステムでは、各指部の延在方向には、何らセンサが設けられていないため、例えば、各指部の延在方向から各指部の先端に接近する物体を検出することができない。その結果、把持部を把持対象物に接近させるときに、各指部などが把持対象物を含む周囲環境の物体に接触して破損してしまうおそれがある。
In the robot system, since no sensor is provided in the extending direction of each finger, for example, an object approaching the tip of each finger from the extending direction of each finger cannot be detected. As a result, when the gripper approaches the gripping target, each finger or the like may come into contact with an object in the surrounding environment including the gripping target and be damaged.
そこで、本開示は、把持対象物および周辺環境の物体に接触することなく、把持対象物に接近させることが可能なエンドエフェクタ装置を提供することを課題とする。
Accordingly, it is an object of the present disclosure to provide an end effector device that can approach a grasping target object without contacting the grasping target object and an object in a surrounding environment.
本開示の一例のエンドエフェクタ装置は、
掌部と、延在方向の一端部が前記掌部に接続されていると共に、前記延在方向に交差する方向でかつ互いに接近する方向にそれぞれ移動して把持対象物を把持する把持動作可能な複数の指部とを有し、前記複数の指部の少なくとも1つにおける前記延在方向の他端部に近接センサ部がそれぞれ設けられ、前記近接センサ部が、前記延在方向における前記把持対象物および周辺環境の物体に対する前記近接センサ部の接近または開離を検出可能であると共に、前記延在方向における前記近接センサ部に対する前記把持対象物および前記物体の接近または開離を検出可能に配置されたエンドエフェクタと、
前記エンドエフェクタの前記掌部および前記複数の指部の各々を駆動させる駆動装置と、
前記近接センサ部を前記把持対象物に対向させて前記近接センサ部により前記把持対象物および前記物体を検出可能な状態で、前記掌部を前記把持対象物に接近移動させる移動制御部と、
前記把持対象物における前記掌部が前記把持対象物に接近する掌接近方向まわりでかつ前記複数の指部の全てが前記把持対象物と前記物体との間に位置して前記把持動作により前記把持対象物を把持可能な把持位置よりも、前記掌接近方向において前記把持対象物から離れた接近位置を決定する接近位置決定部と
を備え、
前記移動制御部は、
前記エンドエフェクタが前記接近位置まで移動するときに、前記近接センサ部により検出された検出結果に基づいて、前記掌部および前記複数の指部の各々に対して前記把持対象物および前記物体が接触する可能性がある場合には、前記掌部の前記把持対象物への接近移動を停止させる。 An end effector device according to an example of the present disclosure includes:
A palm and one end in the extending direction are connected to the palm, and a gripping operation of gripping an object to be gripped by moving in a direction crossing the extending direction and approaching each other is possible. A plurality of finger portions, and a proximity sensor portion is provided at the other end of the at least one of the plurality of finger portions in the extending direction, and the proximity sensor portion is provided for the grip target in the extending direction. An approach or separation of the proximity sensor unit with respect to an object and an object in a surrounding environment can be detected, and an approach or separation of the gripping target object and the object with respect to the proximity sensor unit in the extending direction can be detected. End effector
A drive device for driving each of the palm portion and the plurality of finger portions of the end effector,
A movement control unit that moves the palm toward the gripped object in a state in which the proximity sensor unit is opposed to the gripped object and the grip sensor and the object can be detected by the proximity sensor unit;
The palm of the object to be grasped is around a palm approaching direction in which the object approaches the object to be grasped, and all of the plurality of finger portions are located between the object to be grasped and the object, and the grasping operation is performed. An approach position determining unit that determines an approach position away from the object to be gripped in the palm approach direction, rather than a grip position at which the object can be gripped,
The movement control unit includes:
When the end effector moves to the approach position, the grip target and the object come into contact with each of the palm and the plurality of fingers based on a detection result detected by the proximity sensor. If there is a possibility that the palm part will move, the approach movement of the palm part to the object to be grasped is stopped.
掌部と、延在方向の一端部が前記掌部に接続されていると共に、前記延在方向に交差する方向でかつ互いに接近する方向にそれぞれ移動して把持対象物を把持する把持動作可能な複数の指部とを有し、前記複数の指部の少なくとも1つにおける前記延在方向の他端部に近接センサ部がそれぞれ設けられ、前記近接センサ部が、前記延在方向における前記把持対象物および周辺環境の物体に対する前記近接センサ部の接近または開離を検出可能であると共に、前記延在方向における前記近接センサ部に対する前記把持対象物および前記物体の接近または開離を検出可能に配置されたエンドエフェクタと、
前記エンドエフェクタの前記掌部および前記複数の指部の各々を駆動させる駆動装置と、
前記近接センサ部を前記把持対象物に対向させて前記近接センサ部により前記把持対象物および前記物体を検出可能な状態で、前記掌部を前記把持対象物に接近移動させる移動制御部と、
前記把持対象物における前記掌部が前記把持対象物に接近する掌接近方向まわりでかつ前記複数の指部の全てが前記把持対象物と前記物体との間に位置して前記把持動作により前記把持対象物を把持可能な把持位置よりも、前記掌接近方向において前記把持対象物から離れた接近位置を決定する接近位置決定部と
を備え、
前記移動制御部は、
前記エンドエフェクタが前記接近位置まで移動するときに、前記近接センサ部により検出された検出結果に基づいて、前記掌部および前記複数の指部の各々に対して前記把持対象物および前記物体が接触する可能性がある場合には、前記掌部の前記把持対象物への接近移動を停止させる。 An end effector device according to an example of the present disclosure includes:
A palm and one end in the extending direction are connected to the palm, and a gripping operation of gripping an object to be gripped by moving in a direction crossing the extending direction and approaching each other is possible. A plurality of finger portions, and a proximity sensor portion is provided at the other end of the at least one of the plurality of finger portions in the extending direction, and the proximity sensor portion is provided for the grip target in the extending direction. An approach or separation of the proximity sensor unit with respect to an object and an object in a surrounding environment can be detected, and an approach or separation of the gripping target object and the object with respect to the proximity sensor unit in the extending direction can be detected. End effector
A drive device for driving each of the palm portion and the plurality of finger portions of the end effector,
A movement control unit that moves the palm toward the gripped object in a state in which the proximity sensor unit is opposed to the gripped object and the grip sensor and the object can be detected by the proximity sensor unit;
The palm of the object to be grasped is around a palm approaching direction in which the object approaches the object to be grasped, and all of the plurality of finger portions are located between the object to be grasped and the object, and the grasping operation is performed. An approach position determining unit that determines an approach position away from the object to be gripped in the palm approach direction, rather than a grip position at which the object can be gripped,
The movement control unit includes:
When the end effector moves to the approach position, the grip target and the object come into contact with each of the palm and the plurality of fingers based on a detection result detected by the proximity sensor. If there is a possibility that the palm part will move, the approach movement of the palm part to the object to be grasped is stopped.
前記エンドエフェクタ装置によれば、複数の指部の少なくとも1つに近接センサ部が設けられたエンドエフェクタと、エンドエフェクタの掌部および各指部を駆動させる駆動装置と、掌部を把持対象物に接近させる移動制御部と、把持対象物における掌接近方向まわりでかつ複数の指部の全てが把持対象物と周辺環境の物体との間に位置して把持動作により把持対象物を把持可能な把持位置よりも、掌接近方向において把持対象物から離れた接近位置を決定する接近位置決定部とを備え、移動制御部が、前記近接センサ部により検出された検出結果に基づいて、前記掌部および前記複数の指部の各々に対して前記把持対象物および前記物体が接触する可能性がある場合には、前記掌部の前記把持対象物への接近移動を停止させる。このような構成により、把持対象物および周辺環境の物体に接触することなく、エンドエフェクタを接近位置に移動させることが可能なエンドエフェクタ装置を実現できる。
According to the end effector device, an end effector in which a proximity sensor is provided on at least one of a plurality of fingers, a driving device for driving a palm of the end effector and each finger, and an object to grip the palm A movement control unit for approaching the object, and all of a plurality of finger parts are located between the object to be grasped and the object in the surrounding environment around the palm approaching direction of the object to be grasped and can grasp the object to be grasped by the grasping operation. An approaching position determining unit that determines an approaching position distant from the object to be gripped in the palm approaching direction, rather than the gripping position, wherein the movement control unit is configured to perform the operation based on the detection result detected by the proximity sensor unit. If there is a possibility that the object to be grasped and the object come into contact with each of the plurality of finger parts, the approach movement of the palm part to the object to be grasped is stopped. With such a configuration, it is possible to realize an end effector device that can move the end effector to the approach position without contacting the object to be grasped and the object in the surrounding environment.
以下、本開示の一例を添付図面に従って説明する。なお、以下の説明では、必要に応じて特定の方向あるいは位置を示す用語(例えば、「上」、「下」、「右」、「左」を含む用語)を用いるが、それらの用語の使用は図面を参照した本開示の理解を容易にするためであって、それらの用語の意味によって本開示の技術的範囲が限定されるものではない。また、以下の説明は、本質的に例示に過ぎず、本開示、その適用物、あるいは、その用途を制限することを意図するものではない。さらに、図面は模式的なものであり、各寸法の比率等は現実のものとは必ずしも合致していない。
Hereinafter, an example of the present disclosure will be described with reference to the accompanying drawings. In the following description, terms indicating a specific direction or position (for example, terms including “up”, “down”, “right”, and “left”) will be used as necessary. Is to facilitate understanding of the present disclosure with reference to the drawings, and the technical scope of the present disclosure is not limited by the meaning of those terms. Further, the following description is merely an example in nature, and is not intended to limit the present disclosure, its application, or its use. Furthermore, the drawings are schematic, and the ratios of the respective dimensions do not always match actual ones.
本開示の一実施形態のエンドエフェクタ10は、例えば、図1に示すように、マニピュレータなどのエンドエフェクタ装置1の一部を構成する。エンドエフェクタ装置1は、一例として、エンドエフェクタ10と、エンドエフェクタ10に接続されたアーム20と、エンドエフェクタ10およびアーム20を駆動する駆動装置30と、駆動装置30を制御する制御装置100と、制御装置100に接続された操作部40と、駆動装置30および制御装置100に電力を供給する電源50とを備えている。制御装置100は、操作部40で受け付けられた操作に基づいて、駆動装置30に指令を出力することで、エンドエフェクタ10およびアーム20の駆動を制御する。アーム20は、エンドエフェクタ10の後述する掌部11に接続され、駆動装置30によって、エンドエフェクタ10の位置および姿勢を任意に変更可能に運動することができる。駆動装置30は、掌部11および各指部12を駆動させる図示しないモータと、このモータの回転を検出する図示しないエンコーダとを有し、エンコーダで検出された情報が制御装置100に出力されるように構成されている。
エ ン ド The end effector 10 according to an embodiment of the present disclosure constitutes a part of an end effector device 1 such as a manipulator, for example, as illustrated in FIG. The end effector device 1 includes, for example, an end effector 10, an arm 20 connected to the end effector 10, a driving device 30 for driving the end effector 10 and the arm 20, a control device 100 for controlling the driving device 30, An operation unit 40 connected to the control device 100 and a power supply 50 for supplying power to the drive device 30 and the control device 100 are provided. The control device 100 controls the drive of the end effector 10 and the arm 20 by outputting a command to the drive device 30 based on the operation received by the operation unit 40. The arm 20 is connected to a palm 11 described later of the end effector 10, and can be moved by the driving device 30 so that the position and the posture of the end effector 10 can be arbitrarily changed. The drive device 30 includes a motor (not shown) that drives the palm portion 11 and each finger portion 12, and an encoder (not shown) that detects the rotation of the motor, and information detected by the encoder is output to the control device 100. It is configured as follows.
エンドエフェクタ10は、図2に示すように、掌部11と、掌部11に接続された複数の指部12(この実施形態では、2本の指部12)とを備えている。各指部12は、その延在方向の基端部121(図4参照)が掌部11に接続されていると共に、その延在方向に交差する方向でかつ互いに接近する方向にそれぞれ移動して把持対象物60を把持する把持動作可能に構成されている。
As shown in FIG. 2, the end effector 10 includes a palm portion 11 and a plurality of finger portions 12 (two finger portions 12 in this embodiment) connected to the palm portion 11. Each finger portion 12 has a base end 121 (see FIG. 4) in the extending direction connected to the palm portion 11 and moves in a direction intersecting the extending direction and approaching each other. It is configured to be able to perform a gripping operation of gripping the gripping target object 60.
各指部12は、一例として、略矩形の板状を有し、板面同士が対向するように配置されて、駆動装置30によって、板面に直交する方向に移動可能に構成されている。すなわち、各指部12の相互に対向する面は、各指部12の延在方向に交差(例えば、直交)し、把持対象物60に対向する把持面123(図4参照)を構成している。なお、各指部12を駆動するモータは、例えば、リニアモータで構成することができる。
Each finger portion 12 has, for example, a substantially rectangular plate shape, is arranged so that the plate surfaces face each other, and is configured to be movable in a direction orthogonal to the plate surface by the driving device 30. That is, the mutually facing surfaces of the finger portions 12 intersect (for example, orthogonally) in the extending direction of each finger portion 12 to constitute a gripping surface 123 (see FIG. 4) that faces the gripping target object 60. I have. In addition, the motor that drives each finger unit 12 can be configured by, for example, a linear motor.
図3に示すように、各指部12は、その延在方向の先端部122(図4参照)に設けられた近接センサ部13を有している。各近接センサ部13は、一例として、容量式近接センサで構成され、各指部12の延在方向における近接センサ部13の物体に対する接近および開離を検出可能であると共に、各指部12の延在方向における物体の近接センサ部13に対する接近および開離を検出可能に構成されている。
各 As shown in FIG. 3, each finger 12 has a proximity sensor 13 provided at a tip 122 (see FIG. 4) in the extending direction. Each proximity sensor unit 13 is configured by, for example, a capacitive proximity sensor, and can detect the approach and separation of the proximity sensor unit 13 to and from the object in the extending direction of each finger unit 12, and It is configured to be able to detect the approach and separation of the object to the proximity sensor unit 13 in the extending direction.
詳しくは、各近接センサ部13は、図5に示すように、各指部12の延在方向から見て、各指部12の略矩形状の先端面124の縁部に沿って配置された枠状の電極131を有している。この電極131は、把持面123に直交しかつ把持面123の中心を通る中心線CLに対して対称に配置されている。すなわち、この電極131により、各指部12の先端面124の縁部を覆う第1検出領域14と、この第1検出領域14の内側に配置された第2検出領域15とが形成される。第1検出領域14および第2検出領域15で、各指部12の先端面124の略全体を覆っている。
Specifically, as shown in FIG. 5, each proximity sensor section 13 is arranged along the edge of the substantially rectangular tip surface 124 of each finger section 12 as viewed from the extending direction of each finger section 12. It has a frame-shaped electrode 131. The electrode 131 is arranged symmetrically with respect to a center line CL that is orthogonal to the grip surface 123 and passes through the center of the grip surface 123. That is, the electrode 131 forms the first detection region 14 that covers the edge of the distal end surface 124 of each finger 12 and the second detection region 15 that is disposed inside the first detection region 14. The first detection area 14 and the second detection area 15 cover substantially the entire distal end surface 124 of each finger 12.
なお、前記エンドエフェクタ10では、各指部12のその延在方向の長さは略同一であり、各指部12の先端面124は、各指部の延在方向に直交する同一平面上に配置されている。すなわち、各指部12の近接センサ部13は、各指部12の延在方向における把持対象物60に対する距離が略同一になるように配置されている。
In the end effector 10, the length of each finger 12 in the extending direction thereof is substantially the same, and the distal end surface 124 of each finger 12 is on the same plane orthogonal to the extending direction of each finger. Are located. That is, the proximity sensor unit 13 of each finger unit 12 is arranged so that the distance to the grip target 60 in the extending direction of each finger unit 12 is substantially the same.
このように、前記エンドエフェクタ10によれば、各指部12が、その延在方向の先端部に近接センサ部13を有し、この近接センサ部13が、各指部12の延在方向から見て、各指部12の延在方向の先端部122の縁部を覆う枠状の第1検出領域14を有している。この近接センサ部13により、各指部12の延在方向において、各指部12の先端部122に対する物体(例えば、図20に示す把持対象物60または周辺環境の物体70)の接近および開離を検出可能であると共に、物体に対する各指部の先端部122の接近および開離を検出可能なエンドエフェクタ10を実現できる。
As described above, according to the end effector 10, each finger 12 has the proximity sensor 13 at the distal end in the extending direction, and the proximity sensor 13 is moved from the extending direction of each finger 12. Seen, the first detection region 14 has a frame shape and covers the edge of the distal end portion 122 in the extending direction of each finger portion 12. By the proximity sensor unit 13, in the extending direction of each finger unit 12, an object (for example, the grasp target 60 or the surrounding environment object 70 shown in FIG. 20) approaches and separates from the tip 122 of each finger unit 12. And the end effector 10 capable of detecting approach and separation of the tip 122 of each finger with respect to the object.
また、各指部12の延在方向の先端部122の縁部を覆う枠状の第1検出領域14を有しているので、各指部12の先端部122の縁部の任意の位置において、把持対象物60あるいは周辺環境の物体70の接近または開離を検出して、各指部12の延在方向における各指部12と物体との位置関係を高い精度で把握することができる。その結果、例えば、エンドエフェクタ10を把持対象物50に向かって接近させているときに、各指部12が把持対象物50に接触することなく接近することができるか否かを高い精度で検出することができる。
In addition, since the first detection region 14 has a frame shape and covers the edge of the tip 122 in the extending direction of each finger 12, the edge of the tip 122 of each finger 12 can be located at any position. By detecting the approach or separation of the object 60 to be grasped or the object 70 in the surrounding environment, the positional relationship between each finger 12 and the object in the extending direction of each finger 12 can be grasped with high accuracy. As a result, for example, when the end effector 10 is approached toward the grasping target 50, it is detected with high accuracy whether each finger 12 can approach without grasping the grasping target 50. can do.
また、近接センサ部13が、容量式近接センサで構成されている。これにより、簡単な構成で、各指部12の延在方向において、各指部12の先端部122に対する物体の接近および開離を検出できると共に、物体に対する各指部の先端部122の接近および開離を検出できる。
(4) The proximity sensor unit 13 is constituted by a capacitive proximity sensor. Thus, with a simple configuration, in the extending direction of each finger 12, the approach and separation of the object to and from the tip 122 of each finger 12 can be detected, and the approach and separation of the tip 122 of each finger to the object can be detected. Opening can be detected.
また、近接センサ部13が、各指部12の延在方向から見て、各指部12の先端部122の縁部に配置された枠状の電極131を有している。これにより、簡単な構成で、各指部12の延在方向において、各指部12の先端部122に対する物体の接近および開離を検出できると共に、物体に対する各指部の先端部122の接近および開離を検出できる。
The proximity sensor section 13 has a frame-shaped electrode 131 disposed on the edge of the tip 122 of each finger section 12 when viewed from the extending direction of each finger section 12. Thus, with a simple configuration, in the extending direction of each finger 12, the approach and separation of the object to and from the tip 122 of each finger 12 can be detected, and the approach and separation of the tip 122 of each finger to the object can be detected. Opening can be detected.
また、前記エンドエフェクタ装置1によれば、前記エンドエフェクタ10によって、各指部12の延在方向において、各指部12の先端部122に対する物体の接近および開離を検出可能であると共に、物体に対する各指部12の先端部122の接近および開離を検出可能なエンドエフェクタ装置1を実現できる。
According to the end effector device 1, the end effector 10 can detect the approach and the separation of the object with respect to the tip 122 of each finger 12 in the extending direction of each finger 12, and The end effector device 1 can detect the approach and the separation of the tip portion 122 of each finger portion 12 with respect to the end effector device 12.
なお、前記エンドエフェクタ10は、複数の指部12を備えていればよく、2本の指部12を備えている場合に限らない。例えば、図6に示すように、前記エンドエフェクタ10は、3本の指部12を備えるように構成することもできる。
Note that the end effector 10 only needs to include a plurality of finger portions 12, and is not limited to a case where the end effector 10 includes two finger portions 12. For example, as shown in FIG. 6, the end effector 10 may be configured to include three fingers 12.
各指部12の先端部122は、各指部12の延在方向から見て、略矩形状を有する場合に限らない。例えば、図7に示すように、各指部12の先端部122は、各指部12の延在方向から見て、円弧形状を有するように構成することもできる。また、先端部122の端面124は、指部の延在方向に直交する平面で構成されている場合に限らない。例えば、図8および図9に示すように、先端部122の端面124は、各指部の延在方向の先端部122側に突出する湾曲面125で構成してもよいし、各指部の延在方向に交差する傾斜面126で構成してもよい。
先端 The tip 122 of each finger 12 is not limited to a substantially rectangular shape when viewed from the direction in which each finger 12 extends. For example, as shown in FIG. 7, the distal end 122 of each finger 12 may be configured to have an arc shape when viewed from the direction in which each finger 12 extends. Further, the end face 124 of the distal end portion 122 is not limited to the case where the end face 124 is formed by a plane orthogonal to the extending direction of the finger portion. For example, as shown in FIGS. 8 and 9, the end surface 124 of the distal end portion 122 may be constituted by a curved surface 125 protruding toward the distal end portion 122 in the extending direction of each finger portion. It may be constituted by an inclined surface 126 intersecting with the extending direction.
近接センサ部13は、複数の指部12の少なくとも1つに設けられていればよく、複数の指部12の各々に設けられている場合に限らない。
The proximity sensor unit 13 may be provided on at least one of the plurality of finger units 12, and is not limited to the case where the proximity sensor unit 13 is provided on each of the plurality of finger units 12.
また、近接センサ部13は、少なくとも第1検出領域14、すなわち、各指部の延在方向から見て、各指部12の先端部122の縁部を覆う枠状の検出領域を有していればよく、枠状の電極131を有する容量式近接センサで構成されている場合に限らない。例えば、図10~図18に示すように、任意の形状の電極131を有する1以上の容量式センサで構成することもできる。
In addition, the proximity sensor unit 13 has at least the first detection region 14, that is, a frame-shaped detection region that covers the edge of the tip 122 of each finger 12 when viewed from the extending direction of each finger. The present invention is not limited to the case where a capacitive proximity sensor having the frame-shaped electrode 131 is used. For example, as shown in FIG. 10 to FIG. 18, it may be constituted by one or more capacitive sensors having an electrode 131 of an arbitrary shape.
図10の近接センサ部13は、各指部12の先端面124の略全体を覆う1つのベタ電極131で構成されている。図11の近接センサ部13は、大きさの異なる2つの枠状の電極131で構成され、一方の電極131の内側に他方の電極131が配置されている。図12および図13の近接センサ部13は、同じ大きさの2つの直線状の電極131で構成されている。図14および図15の近接センサ部13は、同じ大きさの2つの略C字状の電極131で構成されている。図16の近接センサ部13は、同じ大きさの2つの枠状の電極131で構成されている。図17および図18の近接センサ部13は、同じ大きさの2つのベタ電極131で構成されている。図12、図14および図17の近接センサ部13は、各電極131が、各指部12の先端面124における中心線CLに直交する一対の辺の各々に沿って配置され、図13、図15および図18の近接センサ部13は、各電極131が、各指部12の先端面124における中心線CLに平行な一対の辺の各々に沿って配置されている。
近 接 The proximity sensor unit 13 in FIG. 10 includes one solid electrode 131 that covers substantially the entire distal end surface 124 of each finger unit 12. The proximity sensor unit 13 in FIG. 11 is configured by two frame-shaped electrodes 131 having different sizes, and the other electrode 131 is disposed inside one electrode 131. The proximity sensor unit 13 shown in FIGS. 12 and 13 includes two linear electrodes 131 having the same size. The proximity sensor unit 13 shown in FIGS. 14 and 15 includes two substantially C-shaped electrodes 131 having the same size. The proximity sensor unit 13 shown in FIG. 16 includes two frame-shaped electrodes 131 having the same size. The proximity sensor unit 13 shown in FIGS. 17 and 18 includes two solid electrodes 131 having the same size. In the proximity sensor unit 13 of FIGS. 12, 14, and 17, each electrode 131 is disposed along each of a pair of sides orthogonal to the center line CL on the distal end surface 124 of each finger unit 12. In the proximity sensor unit 15 and the proximity sensor unit 13 in FIG. 18, each electrode 131 is arranged along each of a pair of sides parallel to the center line CL on the distal end surface 124 of each finger unit 12.
なお、図11~図18の近接センサ部13では、各電極131が、各指部12の延在方向から見て、把持面123に直交しかつ把持面123の中心を通る中心線CLに対して対称に配置されている。このように、近接センサ部13は、各指部12の寸法構成、あるいは、把持対象物60の形状および大きさなどに応じて、その構成を任意に変更することができるので、設計の自由度の高いエンドエフェクタ10を実現できる。
Note that, in the proximity sensor unit 13 of FIGS. 11 to 18, each electrode 131 is perpendicular to the grip surface 123 and viewed from a direction in which the finger unit 12 extends. Are arranged symmetrically. As described above, the proximity sensor unit 13 can be arbitrarily changed in configuration in accordance with the dimensional configuration of each finger unit 12 or the shape and size of the object 60 to be gripped. Of the end effector 10 having a high height.
また、近接センサ部13は、容量式近接センサに限らず、光学式、誘導式、磁気式および超音波式などの任意の形式の近接センサで構成できる。
The proximity sensor unit 13 is not limited to the capacitive proximity sensor, but may be an optical, inductive, magnetic, or ultrasonic proximity sensor of any type.
図5、図7および図11~図15の近接センサ部13は、ループ電極であり、近接センサ部13の寄生容量を減らして、検出感度を高めることができる。図10および図16~図18の近接センサ部13は、ベタ電極であり、電極面積を大きくして検出感度を高めることができる。図5、図7および図10の近接センサ部13は、単一の電極を有する自己容量式の近接センサであり、電極面積を大きくして検出感度を高めることができる。また、図11~図18の近接センサ部13は、複数の電極を有し、複数の自己容量式近接センサ、または、1以上の相互容量式近接センサで構成することができる。例えば、図12に示す近接センサ部13を複数の自己容量式近接センサで構成した場合、検出領域14の面画素を増やすことができるので、検出領域14に把持対象物60または周辺環境の物体70のエッジ部分が位置しているときに、各指部12をいずれの方向に動かせば把持対象物60または周辺環境の物体70に対する接触を回避できるかを判定することができる。
The proximity sensor unit 13 in FIGS. 5, 7, and 11 to 15 is a loop electrode, and can reduce the parasitic capacitance of the proximity sensor unit 13 to increase the detection sensitivity. The proximity sensor unit 13 in FIGS. 10 and 16 to 18 is a solid electrode, and can increase the electrode area to increase the detection sensitivity. The proximity sensor unit 13 in FIGS. 5, 7, and 10 is a self-capacitance proximity sensor having a single electrode, and can increase the electrode area to increase the detection sensitivity. The proximity sensor unit 13 in FIGS. 11 to 18 has a plurality of electrodes and can be configured with a plurality of self-capacitance proximity sensors or one or more mutual capacitance proximity sensors. For example, when the proximity sensor unit 13 shown in FIG. 12 is configured by a plurality of self-capacitance proximity sensors, the number of surface pixels of the detection area 14 can be increased. It is possible to determine in which direction the finger 12 is moved to avoid contact with the object 60 to be grasped or the object 70 in the surrounding environment when the edge portion is located.
図19に示すように、各指部12の少なくとも1つが、第1の補助近接センサ部16および第2の補助近接センサ部17のいずれか1つまたは両方を有するように構成してもよい。第1の補助近接センサ部16は、把持面123に設けられて、把持面123に対する把持対象物60の接近および開離を検出可能に配置されている。この第1の補助近接センサ部16により、把持対象物50を把持するときに、各指部12の把持面123と把持対象物50との間の位置関係をより正確に把握することができる。また、第2の補助近接センサ部17は、各指部12の延在方向に交差する方向において把持面123とは反対側の面127に設けられて、把持面123とは反対側の面127に対する物体(例えば、周辺環境の障害物)の接近および開離を検出可能に配置されている。この第2の補助近接センサ部17により、例えば、各指部12と周辺環境の障害物との間の位置関係をより正確に把握することができる。
As shown in FIG. 19, at least one of the fingers 12 may be configured to include one or both of the first auxiliary proximity sensor 16 and the second auxiliary proximity sensor 17. The first auxiliary proximity sensor section 16 is provided on the grip surface 123 and is arranged so as to be able to detect approach and separation of the grip target 60 with respect to the grip surface 123. The first auxiliary proximity sensor unit 16 can more accurately grasp the positional relationship between the grip surface 123 of each finger 12 and the grip target 50 when gripping the grip target 50. In addition, the second auxiliary proximity sensor unit 17 is provided on a surface 127 opposite to the grip surface 123 in a direction intersecting the extending direction of each finger unit 12, and a surface 127 opposite to the grip surface 123. And an object (for example, an obstacle in the surrounding environment) with respect to the object. The second auxiliary proximity sensor unit 17 can more accurately grasp, for example, the positional relationship between each finger unit 12 and an obstacle in the surrounding environment.
なお、第1および第2の補助近接センサ部16、17は、近接センサ部13と同様に、容量式、光学式、誘導式、磁気式および超音波式などの任意の形式の近接センサで構成できる。また、第1および第2の補助近接センサ部16、17は、容量式で構成する場合、任意の形状の電極を有する1以上の容量式センサで構成することができる。第1および第2の補助近接センサ部16、17で検出された検出結果は、例えば、制御装置100に出力される。
The first and second auxiliary proximity sensor units 16 and 17 are configured by any type of proximity sensor such as a capacitive type, an optical type, an inductive type, a magnetic type and an ultrasonic type, like the proximity sensor unit 13. it can. Further, when the first and second auxiliary proximity sensor units 16 and 17 are configured by a capacitive type, they can be configured by one or more capacitive type sensors having electrodes of an arbitrary shape. The detection results detected by the first and second auxiliary proximity sensors 16 and 17 are output to the control device 100, for example.
次に、前記エンドエフェクタ装置1の制御装置100について説明する。
Next, the control device 100 of the end effector device 1 will be described.
前記制御装置100は、演算等を行うCPU、エンドエフェクタ10の制御などに必要なプログラムあるいはデータ等を記憶しておくROMおよびRAMなどの記憶媒体と、エンドエフェクタ装置1の外部との間で信号の入出力を行うインターフェース部とで構成され、図1に示すように、接近位置決定部110と、指配置判定部120と、指移動判定部130と、移動制御部140とを有している。なお、接近位置決定部110、指配置判定部120、指移動判定部130および移動制御部140の各部は、CPUが所定のプログラムを実行することにより実現される機能である。
The control device 100 transmits a signal between a storage medium such as a CPU for performing calculations and the like, a ROM and a RAM for storing a program or data necessary for controlling the end effector 10, and the like, and the outside of the end effector device 1. As shown in FIG. 1, the interface unit includes an approach position determination unit 110, a finger arrangement determination unit 120, a finger movement determination unit 130, and a movement control unit 140. . Each of the approaching position determination unit 110, the finger arrangement determination unit 120, the finger movement determination unit 130, and the movement control unit 140 is a function realized by the CPU executing a predetermined program.
なお、以下、図20~図24を参照して、制御装置100を構成する各部についての説明を行っているが、図20~図24では、エンドエフェクタ装置1の各構成のうち、エンドエフェクタ10のみを示し、その他の構成については省略している。
20 to 24, the components of the control device 100 will be described. In FIGS. 20 to 24, among the components of the end effector device 1, the end effector 10 Only the configuration is shown, and other configurations are omitted.
接近位置決定部110は、エンドエフェクタ10の掌部11が把持対象物60に接近する掌接近方向(すなわち、図21の矢印A方向)における近接センサ部13の把持対象物60に対する位置であって、後述する把持位置P2(図24参照)よりも掌接近方向Aにおいて把持対象物60から離れた接近位置P1(図22参照)を決定する。接近位置P1は、エンドエフェクタ10が対象物60および周辺環境の物体70に接触しない位置であり、要求されるエンドエフェクタ10の接近位置P1から把持位置P2までの移動時間、各近接センサ部13の性能、各指部12の寸法構成、あるいは、把持対象物60の形状および大きさなどに応じて決定される。なお、掌接近方向は、一例として、エンドエフェクタ10の各指部12の延在方向と略一致している。
The approach position determination unit 110 is a position of the proximity sensor unit 13 with respect to the grip target 60 in the palm approach direction (that is, the direction of arrow A in FIG. 21) in which the palm 11 of the end effector 10 approaches the grip target 60. Then, an approach position P1 (see FIG. 22) farther from the grasp target 60 in the palm approach direction A than a grasp position P2 (see FIG. 24) described later is determined. The approaching position P1 is a position where the end effector 10 does not contact the target object 60 and the object 70 in the surrounding environment, and a required moving time from the approaching position P1 of the end effector 10 to the gripping position P2, It is determined according to the performance, the dimensional configuration of each finger portion 12, or the shape and size of the object 60 to be gripped. Note that, for example, the palm approaching direction substantially coincides with the extending direction of each finger 12 of the end effector 10.
また、接近位置決定部110は、掌接近方向Aにおいて、接近位置P1よりも把持対象物60から離れた速度変更位置P3を決定する。速度変更位置P3は、掌部11を把持対象物60に接近させて接近位置P1まで移動させるときに、移動制御部140によって、速度変更位置P3よりも把持対象物60から離れた位置P0と速度変更位置P3との間の掌部11の移動速度である第1移動速度から、第1移動速度よりも小さい第2移動速度に変更される位置である。この速度変更位置P3は、要求されるエンドエフェクタ10の接近位置P1から把持位置P2までの移動時間、駆動装置30の性能、各指部12の寸法構成、あるいは、把持対象物60の形状および大きさなどに応じて決定される。
接近 The approach position determination unit 110 also determines a speed change position P3 that is farther from the grip target 60 than the approach position P1 in the palm approach direction A. When the palm portion 11 is moved closer to the grip target object 60 by moving the palm portion 11 to the approach position P1, the movement control section 140 sets the speed change position P3 to the position P0 farther from the grip target object 60 than the speed change position P3. This is a position where the first moving speed, which is the moving speed of the palm 11 between the changing position P3, and the second moving speed smaller than the first moving speed is changed. The speed change position P3 is determined by the required movement time from the approach position P1 of the end effector 10 to the gripping position P2, the performance of the driving device 30, the dimensional configuration of each finger 12, or the shape and size of the gripping target 60. It is determined according to the size and the like.
なお、接近位置P1、速度変更位置P3、第1移動速度および第2移動速度の各々は、ユーザの入力により決定してもよいし、接近位置決定部110が予め記憶されている複数の値の中から選択することにより決定してもよいし、接近位置決定部110がユーザの入力により決定あるいは接近位置決定部110により選択された値を近接センサ部13により検出された検出結果に基づいて補正することにより決定してもよい。また、第2移動速度は、例えば、接近位置P1でエンドエフェクタ10が停止可能な範囲で、要求されるエンドエフェクタ10の接近位置P1から把持位置P2までの移動時間に応じて決定される。
In addition, each of the approach position P1, the speed change position P3, the first moving speed, and the second moving speed may be determined by a user's input, or the approach position determining unit 110 may determine a plurality of values stored in advance. The value may be determined by selecting from among them, or the approach position determination unit 110 may determine the value by user input or correct the value selected by the approach position determination unit 110 based on the detection result detected by the proximity sensor unit 13. May be determined. The second moving speed is determined, for example, according to a required moving time from the approach position P1 of the end effector 10 to the gripping position P2 within a range where the end effector 10 can be stopped at the approach position P1.
指配置判定部120は、エンドエフェクタ10で把持対象物60を把持するときに、近接センサ部13により検出された検出結果に基づいて、把持対象物60における掌部11が把持対象物60に接近する方向まわりでかつ複数の指部12の全てが把持対象物60と周辺環境の物体70との間の空間80に位置する把持位置P2(図24参照)に、エンドエフェクタ10を物体70に接触することなく配置可能か否かの配置判定を行う。配置判定は、各指部12に対して、一例として、接近位置P1で行われる。なお、把持位置P2は、各指部12を把持動作させることで把持対象物60を把持可能な位置であり、例えば、エンドエフェクタ10の各指部12の寸法構成、あるいは、把持対象物60の大きさなどに基づいて予め決定される。
When the end effector 10 grips the grip target 60, the finger arrangement determination unit 120 moves the palm 11 of the grip target 60 toward the grip target 60 based on the detection result detected by the proximity sensor unit 13. The end effector 10 contacts the object 70 at a gripping position P2 (see FIG. 24) where the finger portion 12 is located in a space 80 between the gripping target object 60 and the object 70 in the surrounding environment. The arrangement is determined whether the arrangement is possible or not. The arrangement determination is performed on each finger 12 at the approach position P1 as an example. The gripping position P2 is a position where the gripping target 60 can be gripped by gripping each finger 12, and for example, the dimensional configuration of each finger 12 of the end effector 10, or the gripping target 60 It is determined in advance based on the size and the like.
例えば、指配置判定部120は、予め入力された把持対象物60の形状および大きさなどの情報から、掌接近方向Aにおける決定された接近位置P1から把持対象物60までの距離を算出する。そして、指配置判定部120は、各指部12の寸法構成の情報と、算出された距離と、各指部12の近接センサ部13によって検出された検出結果とに基づいて、掌接近方向Aに直交する方向における各指部12と、把持対象物60および周辺環境の物体70との間の位置関係を把握する。これにより、指配置判定部120は、把持対象物60と周辺環境の物体70との間の空間80に、各指部12を把持対象物60および周辺環境の物体70に接触することなく挿入可能か否かを判定する。この判定は、例えば、エンドエフェクタ10を接近位置P1に移動させる前、および、エンドエフェクタ10を接近位置P1に移動させた後、把持位置P2に移動させる前に行われる。
For example, the finger arrangement determining unit 120 calculates the distance from the determined approach position P1 in the palm approaching direction A to the grip target object 60 from information such as the shape and size of the grip target object 60 input in advance. Then, the finger arrangement determination unit 120 determines the palm approach direction A based on the information on the dimensional configuration of each finger 12, the calculated distance, and the detection result detected by the proximity sensor unit 13 of each finger 12. The positional relationship between each finger unit 12 in the direction orthogonal to the direction, and the grasp target 60 and the surrounding environment object 70 is grasped. Thereby, the finger arrangement determination unit 120 can insert each finger unit 12 into the space 80 between the grasp target 60 and the surrounding environment object 70 without contacting the grasp target object 60 and the surrounding environment object 70. It is determined whether or not. This determination is performed, for example, before moving the end effector 10 to the approach position P1, and after moving the end effector 10 to the approach position P1 and before moving it to the gripping position P2.
また、指配置判定部120は、配置判定において、把持対象物60および周辺環境の物体70に接触することなく複数の指部12の各々を把持位置P2に配置不可能であるとする配置不可判定が複数の指部12の一部に対してなされた場合、移動制御部140によって後述する第1移動が行われた後、第1移動前に配置可判定がなされていた指部12が、第1移動後に把持対象物60または周辺環境の物体70に接触することなく把持位置P2に配置可能か否かの第1再配置判定を行う。第1再配置判定は、配置判定と同様の方法で行われる。
In addition, in the arrangement determination, the finger arrangement determination unit 120 determines that it is impossible to arrange each of the plurality of finger parts 12 at the grip position P2 without contacting the object to be gripped 60 and the object 70 in the surrounding environment. Is performed on a part of the plurality of finger portions 12, after the movement control portion 140 performs the first movement described later, the finger portion 12 that has been determined to be able to be arranged before the first movement moves to the second position. After one movement, a first rearrangement determination is made as to whether or not the object can be arranged at the grip position P2 without contacting the object to be gripped 60 or the object 70 in the surrounding environment. The first rearrangement determination is performed in the same manner as the arrangement determination.
第1再配置判定において、第1移動前に配置可判定がなされていた指部12が、第1移動後に把持位置P2に配置可能であるとする再配置可判定がなされた場合、指配置判定部120は、第1移動前に配置不可判定がなされていた指部12が、第1移動後に把持対象物60または周辺環境の物体70に接触することなく把持位置P2に配置可能か否かの第2再配置判定を行う。第2再配置判定は、配置判定と同様の方法で行われる。
In the first rearrangement determination, the finger placement determination is performed when the finger unit 12 for which the layout determination was performed before the first movement is determined to be able to be positioned at the grip position P2 after the first movement. The unit 120 determines whether or not the finger unit 12, for which the placement failure determination has been made before the first movement, can be placed at the holding position P2 without contacting the holding target object 60 or the surrounding environment object 70 after the first movement. A second rearrangement determination is performed. The second rearrangement determination is performed in the same manner as the arrangement determination.
なお、指配置判定部120は、例えば、接近位置P1において、移動制御部140により各指部12の移動が行われる毎に、配置判定を行う。
The finger placement determination unit 120 performs the placement determination each time the movement control unit 140 moves each finger unit 12 at the approach position P1, for example.
指移動判定部130は、指配置判定部120により行われた配置判定または第2再配置判定において配置不可判定がなされた場合に、複数の指部12の把持面123間に把持対象物60を配置できるように複数の指部12の各々を各指部12の延在方向に交差する方向に移動させることが可能か否かの移動判定を行う。この移動判定において、複数の指部12の把持面123間に把持対象物60を配置できるように複数の指部12の各々を各指部12の延在方向に交差する方向に移動させることができないとする移動不可判定がなされた場合、指移動判定部130は、把持対象物60を把持不可能であると判定する。
The finger movement determination unit 130 moves the grip target 60 between the grip surfaces 123 of the plurality of finger units 12 when the placement determination or the second rearrangement determination performed by the finger placement determination unit 120 determines that placement is not possible. It is determined whether or not each of the plurality of finger portions 12 can be moved in a direction intersecting the extending direction of each finger portion 12 so that the finger portions 12 can be arranged. In this movement determination, each of the plurality of finger portions 12 may be moved in a direction intersecting the extending direction of each finger portion 12 so that the grasp target 60 can be arranged between the grasping surfaces 123 of the plurality of finger portions 12. When the determination is made that the movement cannot be performed, the finger movement determination unit 130 determines that the grip target 60 cannot be gripped.
なお、この実施形態では、図21に示すように、複数の指部12の各々を把持方向B1(すなわち、各指部12の延在方向に交差する方向でかつ相互に接近する方向)に互いに接近させて閉じた状態で、エンドエフェクタ10を接近位置P1まで移動させるように構成されている。このため、移動制御部140は、配置判定において配置不可判定がなされた場合、複数の指部12の各々が相互に開離する方向を複数の指部12の移動方向として決定し、決定された方向に沿って複数の指部12の各々を段階的に移動させる。すなわち、配置可判定がなされることなく、複数の指部12が移動制御部140により決定された方向に移動できなくなった場合に、移動不可判定がなされる。
In this embodiment, as shown in FIG. 21, each of the plurality of finger portions 12 is held in the gripping direction B1 (that is, in the direction intersecting the extending direction of each finger portion 12 and approaching each other). It is configured to move the end effector 10 to the approach position P1 in a state of being approached and closed. For this reason, when the disposition determination is made in the placement determination, the movement control unit 140 determines the direction in which each of the plurality of finger parts 12 is separated from each other as the movement direction of the plurality of finger parts 12, and is determined. Each of the plurality of finger portions 12 is moved stepwise along the direction. That is, when the plurality of finger portions 12 cannot move in the direction determined by the movement control unit 140 without performing the arrangement possibility determination, the movement impossible determination is performed.
移動制御部140は、接近位置決定部110、指配置判定部120および指移動判定部130で行われた判定の結果に基づいて駆動装置30を制御して、掌部11および各指部12を駆動させる。
The movement control unit 140 controls the driving device 30 based on the result of the determination performed by the approach position determination unit 110, the finger arrangement determination unit 120, and the finger movement determination unit 130, and controls the palm unit 11 and each finger unit 12 Drive.
例えば、エンドエフェクタ10の接近位置P1への移動処理(以下、第1アプローチ処理という。)において、移動制御部140は、次のように掌部11および各指部を駆動させる。
For example, in the process of moving the end effector 10 to the approach position P1 (hereinafter, referred to as a first approach process), the movement control unit 140 drives the palm 11 and each finger as follows.
移動制御部140は、掌接近方向Aにおいて、接近位置P1よりも把持対象物60から離れた位置(例えば、図20および図21に示す位置P0)から、把持対象物60にエンドエフェクタ10を移動させる場合、近接センサ部13により検出された検出結果に基づいて、エンドエフェクタ10が接近位置P1まで移動したか否かを判定し、エンドエフェクタ10が接近位置P1まで移動したと判定された場合、エンドエフェクタ10の移動を停止させる。このとき、図21に示すように、複数の指部12の各々を把持方向B1に互いに接近させて閉じた状態で、エンドエフェクタ10を接近位置P1まで移動させる。なお、エンドエフェクタ10が接近位置P1まで移動したか否かについては、近接センサ部13により検出された掌接近方向Aにおける把持対象物60までの距離に基づいて決定される。
The movement control unit 140 moves the end effector 10 to the grip target 60 from a position farther from the grip target 60 than the approach position P1 in the palm approach direction A (for example, a position P0 illustrated in FIGS. 20 and 21). In this case, it is determined whether or not the end effector 10 has moved to the approaching position P1 based on the detection result detected by the proximity sensor unit 13, and if it is determined that the end effector 10 has moved to the approaching position P1, The movement of the end effector 10 is stopped. At this time, as shown in FIG. 21, the end effector 10 is moved to the approach position P1 in a state where each of the plurality of finger portions 12 is close to each other in the gripping direction B1 and is closed. Whether or not the end effector 10 has moved to the approach position P1 is determined based on the distance to the grip target 60 in the palm approach direction A detected by the proximity sensor unit 13.
移動制御部140は、エンドエフェクタ10を接近位置P1に移動させる前に、指配置判定部120によって、掌接近方向Aにおけるエンドエフェクタ10に対する把持対象物60の位置が把握できないと判定された場合、掌接近方向Aにおけるエンドエフェクタ10に対する把持対象物60の位置が把握できると判定されるまで、掌部11を掌接近方向Aに交差(例えば、直交)する方向に移動させる。
The movement control unit 140 determines, before moving the end effector 10 to the approaching position P1, that the finger placement determining unit 120 determines that the position of the grasp target 60 with respect to the end effector 10 in the palm approaching direction A cannot be grasped. Until it is determined that the position of the grasping target 60 with respect to the end effector 10 in the palm approaching direction A can be grasped, the palm unit 11 is moved in a direction intersecting (for example, orthogonally) with the palm approaching direction A.
移動制御部140は、掌接近方向Aにおいて、掌部11を把持対象物60に向かって接近移動させてエンドエフェクタ10を接近位置P1まで移動させるときに、近接センサ部13により検出された検出結果に基づいて、掌部11および各指部12に対して把持対象物60および周辺環境の物体70が接触する可能性があるか否かを判定する。掌部11および各指部12に対して把持対象物60および周辺環境の物体70が接触する可能性があると判定された場合、移動制御部140は、掌接近方向Aにおける掌部11の把持対象物60への接近移動を停止させる。また、移動制御部140は、近接センサ部13により検出された検出結果に基づいて、エンドエフェクタ10が接近位置P1よりも把持対象物60から離れた速度変更位置P3(図21参照)まで移動したか否かを判定し、エンドエフェクタ10が速度変更位置P3まで移動したと判定された場合、速度変更位置P3よりも把持対象物60から離れた位置P0(図21に示す)と速度変更位置P3との間のエンドエフェクタ10の移動速度である第1移動速度から、第1移動速度よりも小さい第2移動速度に変更する。
The movement control unit 140 detects the detection result of the proximity sensor unit 13 when moving the palm unit 11 toward the grasp target 60 in the palm approach direction A and moving the end effector 10 to the approach position P1. It is determined whether or not there is a possibility that the object to be gripped 60 and the object 70 in the surrounding environment may come into contact with the palm part 11 and each finger part 12 based on. When it is determined that there is a possibility that the grasp target 60 and the surrounding environment object 70 may come into contact with the palm 11 and each finger 12, the movement control unit 140 may grasp the palm 11 in the palm approach direction A. The approach movement to the target object 60 is stopped. In addition, based on the detection result detected by the proximity sensor unit 13, the movement control unit 140 moves the end effector 10 to a speed change position P3 (see FIG. 21) farther from the grip target 60 than the approach position P1. It is determined whether or not the end effector 10 has moved to the speed change position P3, and a position P0 (shown in FIG. 21) farther from the gripping object 60 than the speed change position P3 and a speed change position P3 are determined. Is changed from the first moving speed that is the moving speed of the end effector 10 to the second moving speed that is smaller than the first moving speed.
また、例えば、エンドエフェクタ10の把持位置P2への移動処理(以下、第2アプローチ処理という。)において、移動制御部140は、次のように掌部11および各指部を駆動させる。第2アプローチ処理は、第1アプローチ処理の終了後に行われる。
In addition, for example, in the process of moving the end effector 10 to the grip position P2 (hereinafter, referred to as a second approach process), the movement control unit 140 drives the palm 11 and each finger as follows. The second approach processing is performed after the end of the first approach processing.
移動制御部140は、配置判定または第2再配置判定において配置可判定がなされた場合、駆動装置30を制御して、掌部11を掌接近方向Aにおいて把持対象物60に接近移動させつつ、把持対象物60と周辺環境の物体70との間の空間80に、各指部12を把持対象物60および周辺環境の物体70に接触することなく挿入して、エンドエフェクタ10を把持位置P2に移動させる。
The movement control unit 140 controls the driving device 30 when the placement determination is made in the placement determination or the second rearrangement determination, and moves the palm 11 toward the grasp target 60 in the palm approach direction A. Each of the finger portions 12 is inserted into the space 80 between the grasp target 60 and the surrounding environment object 70 without touching the grasp target 60 and the surrounding environment object 70, and the end effector 10 is moved to the grasp position P2. Move.
移動制御部140は、配置判定において全てまたは一部の指部12に対して配置不可判定がなされた場合、駆動装置30を制御して、複数の指部12の全てを各指部12の延在方向に交差(例えば、直交)する方向に移動させる第1移動を行う。この実施形態では、第1移動は、各指部12の延在方向に交差する方向において、各指部12を相互に離れる方向B2に移動させて開く。
The movement control unit 140 controls the driving device 30 to move all of the plurality of finger portions 12 to the length of each of the finger portions 12 when the placement determination is made for all or some of the finger portions 12 in the placement determination. A first movement of moving in a direction intersecting (for example, orthogonally) with the existing direction is performed. In this embodiment, the first movement is performed by moving each finger 12 in a direction B2 away from each other in a direction intersecting the extending direction of each finger 12 and opening the finger.
移動制御部140は、第1再配置判定において配置不可判定がなされた場合、第1再配置判定が行われる前に配置不可判定された指部12が、指部12の延在方向に交差する方向において把持対象物60から離れるように(すなわち、第1再配置判定が行われる前に配置不可判定された指部12が、第1移動において移動した方向B2と同じ方向に)、掌部11を掌接近方向Aに交差する方向に移動させる第2移動を行う。
When the placement rejection determination is made in the first relocation determination, the movement control unit 140 intersects the finger portion 12 that has been determined to be rejectable before the first relocation determination is performed in the extending direction of the finger portion 12. The palm portion 11 is moved away from the grasping target object 60 in the direction (that is, in the same direction as the direction B2 in which the finger portion 12 determined to be unplaceable before the first rearrangement determination is moved in the first movement). Is performed in a direction intersecting the palm approaching direction A.
なお、エンドエフェクタ10が接近位置P1、把持位置P2および速度変更位置P3に到達したか否かは、例えば、複数の近接センサ部13のうち、掌接近方向Aにおいて最も把持対象物60に近い近接センサ部13により検出された検出結果(すなわち、各近接センサ部13から把持対象物60までの距離)に基づいて判断する。この実施形態では、各指部12の近接センサ部13は、各指部12の延在方向における把持対象物60に対する距離が略同一になるように配置されているため、エンドエフェクタ10が各位置P1、P2、P3に到達したか否かの判断に、いずれの近接センサ部13を用いても構わない。
Whether or not the end effector 10 has reached the approach position P1, the grip position P2, and the speed change position P3 is determined by, for example, the proximity of the grip sensor 60 in the palm approach direction A among the plurality of proximity sensors 13. The determination is made based on the detection result detected by the sensor unit 13 (that is, the distance from each proximity sensor unit 13 to the object 60 to be grasped). In this embodiment, the proximity sensor unit 13 of each finger unit 12 is disposed so that the distance to the grip target 60 in the extending direction of each finger unit 12 is substantially the same. Any of the proximity sensor units 13 may be used to determine whether or not P1, P2, and P3 have been reached.
また、エンドエフェクタ10が把持位置P2に到達したか否かの判断については、第1の補助近接センサ部16を用いることができる。例えば、第1の補助近接センサ部16が把持対象物60を認識したときに、移動制御部140は、エンドエフェクタ10が把持位置P2に到達したと判定する。
The first auxiliary proximity sensor unit 16 can be used to determine whether the end effector 10 has reached the grip position P2. For example, when the first auxiliary proximity sensor unit 16 recognizes the grip target 60, the movement control unit 140 determines that the end effector 10 has reached the grip position P2.
続いて、図25~図27を参照して、第1アプローチ処理および第2アプローチ処理について説明する。なお、以下に説明するこれらの処理は、制御装置100が所定のプログラムを実行することで実施される。また、第1アプローチ処理および第2アプローチ処理において、各指部12の互いに接近または開離させる方向B1、B2における移動量は、微小な量(例えば、1mm)であるとする。
Next, the first approach processing and the second approach processing will be described with reference to FIGS. These processes described below are performed by the control device 100 executing a predetermined program. In the first approach processing and the second approach processing, it is assumed that the amount of movement in the directions B1 and B2 of the finger portions 12 approaching or separating from each other is a minute amount (for example, 1 mm).
(第1アプローチ処理)
図25に示すように、第1アプローチ処理が開始されると、接近位置決定部110が、接近位置P1および速度変更位置P3を決定すると共に、第1移動速度および第2移動速度を併せて決定する(ステップS1)。 (First approach processing)
As shown in FIG. 25, when the first approach process is started, the approach position determination unit 110 determines the approach position P1 and the speed change position P3, and also determines the first movement speed and the second movement speed. (Step S1).
図25に示すように、第1アプローチ処理が開始されると、接近位置決定部110が、接近位置P1および速度変更位置P3を決定すると共に、第1移動速度および第2移動速度を併せて決定する(ステップS1)。 (First approach processing)
As shown in FIG. 25, when the first approach process is started, the approach position determination unit 110 determines the approach position P1 and the speed change position P3, and also determines the first movement speed and the second movement speed. (Step S1).
接近位置P1および速度変更位置P3が決定されると、移動制御部140は、エンドエフェクタ10の複数の指部12の各々を把持方向B1に互いに接近させて閉じて(ステップS2)、近接センサ部13による検出を開始する。近接センサ部13による検出が開始されると、指配置判定部120が、近接センサ部13により検出された検出結果に基づいて、掌接近方向Aにおける掌部11に対する把持対象物60の位置が把握できるか否かの判定を行う(ステップS3)。
When the approach position P1 and the speed change position P3 are determined, the movement control unit 140 closes each of the plurality of finger portions 12 of the end effector 10 by approaching each other in the gripping direction B1 (Step S2), and the proximity sensor unit. 13 is started. When the detection by the proximity sensor unit 13 is started, the finger arrangement determination unit 120 determines the position of the grasp target 60 with respect to the palm unit 11 in the palm approach direction A based on the detection result detected by the proximity sensor unit 13. It is determined whether or not it is possible (step S3).
掌接近方向Aにおけるエンドエフェクタ10に対する把持対象物60の位置が把握できないと判定された場合、移動制御部140は、掌部11を掌接近方向Aに交差する方向に移動させ(ステップS4)、掌接近方向Aにおけるエンドエフェクタ10に対する把持対象物60の位置が把握できると判定されるまで、ステップS3およびS4を繰り返す。
When it is determined that the position of the grip target 60 with respect to the end effector 10 in the palm approaching direction A cannot be grasped, the movement control unit 140 moves the palm 11 in a direction intersecting the palm approaching direction A (step S4). Steps S3 and S4 are repeated until it is determined that the position of the grip target 60 with respect to the end effector 10 in the palm approaching direction A can be grasped.
掌接近方向Aにおける掌部11に対する把持対象物60の位置が把握できると判定された場合、移動制御部140は、掌接近方向Aにおいて、掌部11を把持対象物60に接近させてエンドエフェクタ10の接近位置P1への移動を開始させる(ステップS5)。
When it is determined that the position of the grasp target 60 with respect to the palm 11 in the palm approach direction A can be grasped, the movement control unit 140 causes the palm 11 to approach the grasp target 60 in the palm approach direction A, and The movement to the approach position P1 is started (step S5).
エンドエフェクタ10の接近位置P1への移動が開始されると、移動制御部140は、まず、近接センサ部13により検出された検出結果に基づいて、掌部11および各指部12に対して把持対象物60および周辺環境の物体70が接触する可能性があるか否かを判定しつつ、エンドエフェクタ10が速度変更位置P3に到達したか否かを判定する(ステップS6)。このステップS6は、エンドエフェクタ10が速度変更位置P3に到達するまで繰り返される。なお、掌部11および各指部12に対して把持対象物60および周辺環境の物体70が接触する可能性があると判定された場合、移動制御部140は、掌接近方向Aにおける掌部11の把持対象物60への接近移動を停止させる。
When the movement of the end effector 10 to the approach position P1 is started, the movement control unit 140 first holds the palm unit 11 and each finger unit 12 based on the detection result detected by the proximity sensor unit 13. It is determined whether or not the end effector 10 has reached the speed change position P3 while determining whether or not the target object 60 and the surrounding environment object 70 may come into contact with each other (step S6). This step S6 is repeated until the end effector 10 reaches the speed change position P3. If it is determined that there is a possibility that the object to be gripped 60 and the object 70 in the surrounding environment may come into contact with the palm 11 and each finger 12, the movement control unit 140 proceeds to the palm 11 in the palm approaching direction A. The approach movement to the grasping target object 60 is stopped.
エンドエフェクタ10が速度変更位置P3に到達したと判定されると、移動制御部140は、エンドエフェクタ10の移動速度を第1移動速度から、第1移動速度よりも小さい第2移動速度に変更する(ステップS7)。
When it is determined that the end effector 10 has reached the speed change position P3, the movement control unit 140 changes the movement speed of the end effector 10 from the first movement speed to a second movement speed smaller than the first movement speed. (Step S7).
エンドエフェクタ10の移動速度が第1移動速度から第2移動速度に変更されると、移動制御部140は、近接センサ部13により検出された検出結果に基づいて、エンドエフェクタ10が接近位置P1に到達したか否かを判定する(ステップS8)。このステップS8は、エンドエフェクタ10が接近位置P1に到達するまで繰り返される。
When the moving speed of the end effector 10 is changed from the first moving speed to the second moving speed, the movement control unit 140 moves the end effector 10 to the approach position P1 based on the detection result detected by the proximity sensor unit 13. It is determined whether or not it has reached (step S8). This step S8 is repeated until the end effector 10 reaches the approach position P1.
エンドエフェクタ10が接近位置P1に到達したと判定されると、移動制御部140は、エンドエフェクタ10の移動を停止させ(ステップS9)、第1アプローチ処理が終了する。
When it is determined that the end effector 10 has reached the approach position P1, the movement control unit 140 stops the movement of the end effector 10 (Step S9), and the first approach processing ends.
このように、前記エンドエフェクタ装置1では、複数の指部12の各々に近接センサ部13が設けられたエンドエフェクタ10と、エンドエフェクタ10の掌部11および各指部12を駆動させる駆動装置30と、掌部11を把持対象物60に接近させる移動制御部140と、把持対象物60における掌接近方向Aまわりでかつ複数の指部12の全てが把持対象物60と周辺環境の物体70との間に位置して把持動作により把持対象物60を把持可能な把持位置P2よりも、掌接近方向Aにおいて把持対象物60から離れた接近位置P1を決定する接近位置決定部110とを備え、移動制御部140が、近接センサ部13により検出された検出結果に基づいて、掌部11および各指部12に対して把持対象物60および周辺環境の物体70が接触する可能性がある場合には、掌部11の把持対象物60への接近移動を停止させる。このような構成により、把持対象物60および周辺環境の物体70に接触することなく、エンドエフェクタ10を接近位置に移動させることが可能なエンドエフェクタ装置1を実現できる。
As described above, in the end effector device 1, the end effector 10 in which the proximity sensor unit 13 is provided for each of the plurality of finger units 12, and the driving unit 30 that drives the palm unit 11 of the end effector 10 and each finger unit 12 A movement control unit 140 for bringing the palm 11 closer to the object 60 to be gripped, and all the fingers 12 around the palm approach direction A in the object 60 to be gripped and the object 70 in the surrounding environment And an approaching position determining unit 110 that determines an approaching position P1 distant from the gripping object 60 in the palm approaching direction A than a gripping position P2 at which the gripping object 60 can be gripped by the gripping operation. Based on the detection result detected by the proximity sensor unit 13, the movement control unit 140 controls the palm unit 11 and each finger unit 12 to grasp the target object 60 and the surrounding environment object 70. If there is a possibility of contact stops the approaching movement to the gripping target 60 of the palm portion 11. With such a configuration, it is possible to realize the end effector device 1 that can move the end effector 10 to the approach position without contacting the grasp target 60 and the surrounding environment object 70.
また、移動制御部140は、各指部12をその延在方向に交差する方向において互いに接近させて閉じた状態で、エンドエフェクタ10を接近位置P1まで移動させる。このような構成により、各指部12の近接センサ部13をアレイとして用いることができるので、掌接近方向Aのエンドエフェクタ10に対する把持対象物60および周辺環境の物体70の接近または開離をより正確に検出することができる。
移動 The movement control unit 140 moves the end effector 10 to the approach position P1 in a state where the finger units 12 are close to each other in a direction intersecting the extending direction thereof and are closed. With such a configuration, since the proximity sensor unit 13 of each finger unit 12 can be used as an array, the approach or separation of the grasp target 60 and the surrounding environment object 70 with respect to the end effector 10 in the palm approach direction A can be improved. It can be detected accurately.
また、移動制御部140は、エンドエフェクタ10を把持対象物60に接近させる前に、近接センサ部13により検出された検出結果に基づいて、掌接近方向Aにおけるエンドエフェクタ10に対する把持対象物60の位置が把握できるか否かの判定を行う。掌接近方向Aにおけるエンドエフェクタ10に対する把持対象物60の位置が把握できないと判定した場合、移動制御部140は、掌接近方向Aにおけるエンドエフェクタ10に対する把持対象物60の位置が把握できると判定されるまで、エンドエフェクタ10を掌接近方向Aに交差する方向Bに移動させる。このような構成により、エンドエフェクタ10を把持対象物60に向かってより正確に移動させることができる。
In addition, before the end effector 10 approaches the object 60 to be gripped, the movement control unit 140 moves the object 60 to be gripped with respect to the end effector 10 in the palm approaching direction A based on the detection result detected by the proximity sensor unit 13. It is determined whether or not the position can be grasped. If it is determined that the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A cannot be determined, the movement control unit 140 determines that the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A can be determined. The end effector 10 is moved in the direction B intersecting with the palm approaching direction A until the end effector 10 moves. With such a configuration, the end effector 10 can be more accurately moved toward the grasp target 60.
また、移動制御部140は、エンドエフェクタ10を把持対象物60に接近させて接近位置P1まで移動させるときに、掌接近方向Aにおいて、エンドエフェクタ10が接近位置P1よりも把持対象物60から離れた速度変更位置P3まで移動したときに、速度変更位置P3よりも把持対象物60から離れた位置P0と速度変更位置P3との間のエンドエフェクタ10の移動速度である第1移動速度から、第1移動速度よりも小さい第2移動速度に変更する。このような構成により、エンドエフェクタ10を接近位置P1まで移動させるときにおけるエンドエフェクタ10の把持対象物60に対する意図しない接触をより確実に回避することができる。
Further, when the end effector 10 is moved closer to the grasping target object 60 to the approaching position P1 in the palm approaching direction A, the movement control unit 140 moves the end effector 10 away from the grasping target object 60 more than the approaching position P1. When the end effector 10 moves to the speed change position P3 between the position P0 farther from the graspable object 60 than the speed change position P3 when moving to the speed change position P3. The speed is changed to a second moving speed smaller than the first moving speed. With such a configuration, unintended contact of the end effector 10 with the object 60 to be gripped when the end effector 10 is moved to the approach position P1 can be more reliably avoided.
なお、第1アプローチ処理において、ステップS2~ステップS7は、必要に応じて、省略することができる。すなわち、エンドエフェクタ10を接近位置P1に移動させるときに、各指部12を閉じなくてもよいし、掌接近方向Aにおける掌部11に対する把持対象物60の位置が把握できるか否かの判定を行わなくてもよいし、エンドエフェクタ10の移動速度を変更しなくてもよい。また、ステップS2~ステップS7のいずれか1つまたは複数を省略してもよいし、ステップS2~ステップS7の全てを省略してもよい。
In the first approach process, steps S2 to S7 can be omitted as necessary. That is, when the end effector 10 is moved to the approach position P <b> 1, it is not necessary to close each finger 12, and it is determined whether the position of the grasp target 60 with respect to the palm 11 in the palm approach direction A can be grasped. And the moving speed of the end effector 10 need not be changed. Further, one or more of steps S2 to S7 may be omitted, or all of steps S2 to S7 may be omitted.
例えば、第1アプローチ処理のステップS3を省略する場合、画像センサを用いて掌部11に対する把持対象物60の位置を把握するように構成することができる。
For example, when step S3 of the first approach process is omitted, the position of the grip target 60 with respect to the palm 11 can be determined using an image sensor.
また、近接センサ部13は、複数の指部12の少なくとも1つに設けられていればよく、複数の指部12の各々に設けられている場合に限らない。
The proximity sensor section 13 may be provided on at least one of the plurality of finger sections 12, and is not limited to being provided on each of the plurality of finger sections 12.
また、速度変更位置P3は、1つに限らず、2つ以上設けてもよい。すなわち、エンドエフェクタ10を接近位置P1まで移動させるときに、2箇所以上でエンドエフェクタ10の速度変更を行ってもよい。さらに、速度変更位置P3は、接近位置P1と同じ位置(すなわち、P1=P3)であっても構わない。この場合、第1アプローチ処理において、ステップS6およびステップS7が省略され、移動制御部140が、第2アプローチ処理において、第1アプローチ処理におけるエンドエフェクタ10の移動速度と同じか遅い速度で、エンドエフェクタ10を移動させる。
は The speed change position P3 is not limited to one, and two or more speed change positions may be provided. That is, when the end effector 10 is moved to the approach position P1, the speed of the end effector 10 may be changed at two or more locations. Further, the speed change position P3 may be the same position as the approach position P1 (that is, P1 = P3). In this case, in the first approach process, steps S6 and S7 are omitted, and the movement control unit 140 determines in the second approach process that the end effector 10 has the same speed as or slower than the movement speed of the end effector 10 in the first approach process. Move 10
また、ステップS3において、掌接近方向Aにおけるエンドエフェクタ10に対する把持対象物60の位置が把握できないと判定された場合、掌接近方向Aにおけるエンドエフェクタ10に対する把持対象物60の位置が把握できると判定されるまで、ステップS6を繰り返すのではなく、その時点で、第1アプローチ処理を終了するように構成してもよい。
If it is determined in step S3 that the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A cannot be determined, it is determined that the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A can be determined. The first approach process may be terminated at that time, instead of repeating step S6 until the process is performed.
(第2アプローチ処理)
図26および図27に示すように、第2アプローチ処理では、移動制御部140が、入力された把持対象物60の情報に基づいて、エンドエフェクタ10の複数の指部12の各々を互いに離れる方向B2に移動させて開いた後(ステップS11)、指配置判定部120が、全ての指部12が把持位置P2に配置可能か否かの配置判定を行う(ステップS12)。この配置判定において、全ての指部12に対して配置不可判定がなされた場合の処理を図26に示し、複数の指部12の一部に対して配置不可判定がなされた場合の処理を図27に示す。 (Second approach processing)
As shown in FIGS. 26 and 27, in the second approach process, the movement control unit 140 moves the plurality offinger units 12 of the end effector 10 away from each other based on the input information of the grasp target 60. After being moved to B2 and opened (step S11), the finger placement determining unit 120 determines whether or not all the fingers 12 can be placed at the grip position P2 (step S12). FIG. 26 shows a process in the case where a placement failure determination is made for all the finger portions 12 in this placement determination. 27.
図26および図27に示すように、第2アプローチ処理では、移動制御部140が、入力された把持対象物60の情報に基づいて、エンドエフェクタ10の複数の指部12の各々を互いに離れる方向B2に移動させて開いた後(ステップS11)、指配置判定部120が、全ての指部12が把持位置P2に配置可能か否かの配置判定を行う(ステップS12)。この配置判定において、全ての指部12に対して配置不可判定がなされた場合の処理を図26に示し、複数の指部12の一部に対して配置不可判定がなされた場合の処理を図27に示す。 (Second approach processing)
As shown in FIGS. 26 and 27, in the second approach process, the movement control unit 140 moves the plurality of
なお、例えば、第1アプローチ処理が各指部12を閉じずに開いたままで行われた場合、移動制御部140は、ステップS11で、各指部12を互いに接近する把持方向B1に段階的に移動させて閉じるように構成される。
Note that, for example, when the first approach process is performed without opening each finger unit 12 without closing it, the movement control unit 140 gradually moves each finger unit 12 in the gripping direction B1 approaching each other in step S11. It is configured to be moved and closed.
図26に示すように、ステップS12の配置判定において、全ての指部12に対して配置可判定がなされた場合、移動制御部140は、エンドエフェクタ10を把持位置P2に移動させて(ステップS13)、第2アプローチ処理が終了する。
As shown in FIG. 26, in the arrangement determination in step S12, when it is determined that all the fingers 12 can be arranged, the movement control unit 140 moves the end effector 10 to the grip position P2 (step S13). ), The second approach process ends.
一方、ステップS12の配置判定において、全ての指部12に対して配置不可判定がなされた場合、指移動判定部130は、各指部12を互いに離れる方向に移動させて開くことができるか否かの移動判定を行う(ステップS14)。この移動判定において、各指部12を互いに離れる方向B2に移動させて開くことができるとする移動可判定がなされた場合、移動制御部140が、各指部12を互いに離れる方向B2に移動させて開き(ステップS15)、ステップS12に戻って、再び指配置判定部120によって配置判定が行われる。
On the other hand, in the arrangement determination in step S12, when the arrangement failure determination is made for all the finger parts 12, the finger movement determination unit 130 determines whether or not the finger parts 12 can be opened by moving the finger parts 12 away from each other. The movement determination is performed (step S14). In this movement determination, when it is determined that the fingers 12 can be moved and opened in the direction B2 away from each other, the movement control unit 140 moves the fingers 12 in the direction B2 away from each other. (Step S15), and the process returns to step S12, where the finger placement determination unit 120 again performs placement determination.
移動判定により、各指部12を互いに離れる方向B2に移動させて開くことができないとする移動不可判定がなされた場合、指移動判定部130は、把持対象物60を把持不可能であると判定して(ステップS16)、第2アプローチ処理が終了する。
When the movement determination determines that the finger units 12 cannot be opened by moving the finger units 12 in the direction B2 away from each other, the finger movement determination unit 130 determines that the grip target 60 cannot be gripped. Then (step S16), the second approach processing ends.
図27に示すように、ステップS12の配置判定において、一部の指部12に対して配置不可判定がなされた場合、指移動判定部130が、各指部12を互いに離れる方向に移動させて開くことができるか否かの移動判定を行う(ステップS21)。この移動判定において移動可判定がなされた場合、移動制御部140が、各指部12を互いに離れる方向B2に移動させて開く第1移動を行う(ステップS22)。
As shown in FIG. 27, in the placement determination in step S12, when placement failure determination is made for some of the finger parts 12, the finger movement determination unit 130 moves each finger part 12 in a direction away from each other. It is determined whether or not it can be opened (step S21). When the movement determination is made in the movement determination, the movement control unit 140 performs the first movement in which the finger units 12 are moved in the direction B2 away from each other and opened (step S22).
第1移動が行われると、指配置判定部120は、第1移動前に配置可判定がなされていた指部12が、第1移動後に把持対象物60または周辺環境の物体70に接触することなく把持位置P2に配置可能か否かの第1再配置判定を行う(ステップS23)。この第1再配置判定において配置可判定がなされた場合、指配置判定部120は、第1移動前に配置不可判定がなされていた指部12が、第1移動後に把持対象物60または周辺環境の物体70に接触することなく把持位置P2に配置可能か否かの第2再配置判定を行う(ステップS24)。
When the first movement is performed, the finger arrangement determination unit 120 determines that the finger unit 12, for which the arrangement possibility has been determined before the first movement, comes into contact with the grasp target 60 or the object 70 in the surrounding environment after the first movement. A first rearrangement determination is made as to whether or not it can be arranged at the gripping position P2 (step S23). When the placement determination is made in the first rearrangement determination, the finger placement determining unit 120 determines that the finger unit 12 that has been determined to be unplaceable before the first movement moves to the grip target 60 or the surrounding environment after the first movement. A second rearrangement determination is made as to whether or not the object 70 can be arranged at the grip position P2 without touching the object 70 (step S24).
第2再配置判定において配置可判定がなされた場合、あるいは、ステップS12およびステップS24において、全ての指部12に対して配置可判定がなされた場合、移動制御部140は、エンドエフェクタ10を把持位置P2に移動させて(ステップS13)、第2アプローチ処理が終了する。
When the placement determination is made in the second rearrangement determination, or when the placement determination is made for all the finger portions 12 in step S12 and step S24, the movement control unit 140 holds the end effector 10. After moving to the position P2 (step S13), the second approach process ends.
ステップS21の移動判定において移動不可判定がなされた場合、指移動判定部130は、把持対象物60を把持不可能であると判定して(ステップS16)、第2アプローチ処理が終了する。
(4) When the movement cannot be determined in the movement determination in step S21, the finger movement determination unit 130 determines that the grip target object 60 cannot be gripped (step S16), and the second approach process ends.
ステップS23の第1再配置判定において配置不可判定がなされた場合、移動制御部140は、第1再配置判定が行われる前に配置不可判定された指部12が、指部12の延在方向に交差する方向において把持対象物60から離れるように、掌部11を掌接近方向Aに交差する方向に移動させる第2移動を行う(ステップS25)。第2移動が行われると、ステップS12に戻って、再び指配置判定部120によって配置判定が行われる。
When the placement rejection determination is made in the first relocation determination in step S23, the movement control unit 140 determines whether the finger 12 that has been determined to be repositionable before the first relocation determination is performed extends in the direction in which the finger 12 extends. A second movement of moving the palm portion 11 in a direction intersecting with the palm approaching direction A is performed so as to move away from the grasping target object 60 in a direction intersecting (step S25). When the second movement is performed, the process returns to step S12, and the finger placement determination unit 120 again performs the placement determination.
ステップS24の第2再配置判定において配置不可判定がなされた場合、ステップS21に戻って、再び指移動判定部130によって移動判定が行われる。
(4) When the placement rejection determination is made in the second relocation determination in step S24, the process returns to step S21, and the finger movement determination unit 130 performs the movement determination again.
なお、ステップS11において、各指部12を互いに接近する把持方向B1に段階的に移動させて閉じる場合、ステップS25では、第1再配置判定が行われる前に配置不可判定された指部12が、指部12の延在方向に交差する方向において把持対象物60に接近するように第2移動が行われる。
In step S11, when the finger units 12 are moved stepwise in the gripping direction B1 approaching each other and closed, in step S25, the finger units 12 determined to be unplaceable before the first rearrangement determination is performed. The second movement is performed so as to approach the gripping target object 60 in a direction intersecting the extending direction of the finger portion 12.
このように、前記エンドエフェクタ装置1では、複数の指部12の各々に近接センサ部13が設けられたエンドエフェクタ10と、エンドエフェクタ10の掌部11および各指部12を駆動させる駆動装置30と、複数の指部12の各々を把持対象物60および周辺環境の物体70に接触することなく把持位置P2に配置可能か否かの配置判定を行う指配置判定部120と、配置判定において配置可判定がなされたときにエンドエフェクタ10を把持位置P2に移動させ、配置判定において配置不可判定がなされた場合、各指部12をその延在方向に交差する方向に移動させる移動制御部140とを備えている。このような構成により、把持対象物60および周辺環境の物体に接触することなく、把持対象物60を把持可能な位置(すなわち、把持位置P2)に配置可能なエンドエフェクタ装置1を実現できる。
As described above, in the end effector device 1, the end effector 10 in which the proximity sensor unit 13 is provided for each of the plurality of finger units 12, and the driving unit 30 that drives the palm unit 11 of the end effector 10 and each finger unit 12 And a finger placement determining unit 120 that determines whether or not each of the plurality of finger units 12 can be placed at the grip position P2 without contacting the grip target object 60 and the surrounding environment object 70, and a placement in the placement determination. A movement control unit 140 that moves the end effector 10 to the grip position P2 when the determination is possible and moves each finger 12 in a direction that intersects with the extending direction when the disposition determination is performed in the placement determination. It has. With such a configuration, it is possible to realize the end effector device 1 that can be disposed at a position where the grip target object 60 can be gripped (that is, the grip position P2) without contacting the grip target object 60 and an object in the surrounding environment.
また、指配置判定部120は、配置判定において、配置不可判定が複数の指部12の一部に対してなされた場合に複数の指部12の全てをその延在方向に交差する方向に移動させる第1移動が、移動制御部140によって行われた場合に、第1移動前に配置可判定がなされていた指部12が、第1移動後に把持対象物60または周辺環境の物体70に接触することなく把持位置P2に配置可能か否かの再配置判定を行う。また、移動制御部140は、再配置判定において、配置不可判定がなされた場合、再配置判定が行われる前に配置不可判定された指部12がその延在方向に交差する方向において把持対象物60に対して接近または開離するように、掌部11を掌接近方向Aに交差する方向に移動させる第2移動を行う。このような構成により、エンドエフェクタ10を把持位置P2に移動させるときのアーム20の駆動量を低減することができる。
In addition, in the placement determination, when the placement failure determination is made for a part of the plurality of finger parts 12, the finger placement determining unit 120 moves all of the plurality of finger parts 12 in a direction intersecting the extending direction thereof. When the first movement to be performed is performed by the movement control unit 140, the finger unit 12, which has been determined to be able to be arranged before the first movement, comes into contact with the grasp target 60 or the surrounding environment object 70 after the first movement. The relocation determination is performed to determine whether or not the relocation can be performed at the grip position P2 without performing the relocation. In addition, when the relocation determination determines that the placement is not possible, the movement control unit 140 determines that the finger 12 that has been determined to be unplaceable before the relocation determination is performed in the direction that intersects the extending direction of the finger 12. A second movement of moving the palm 11 in a direction intersecting the palm approaching direction A is performed so as to approach or separate from the palm 60. With such a configuration, the amount of driving of the arm 20 when the end effector 10 is moved to the grip position P2 can be reduced.
また、配置判定において配置不可判定がなされた場合に、複数の指部12間に把持対象物60を配置できるように、複数の指部12の各々をその延在方向に交差する方向に移動させることが可能か否かの移動判定を行う指移動判定部130をさらに備える。この指移動判定部130は、移動判定により移動不可判定がなされた場合、把持対象物60を把持不可能であると判定する。このような構成により、把持対象物60を把持可能か否かについて正確かつ迅速に判定することができる。
In addition, when the disposition determination is made in the disposition determination, each of the plurality of finger portions 12 is moved in a direction intersecting the extending direction so that the grasp target 60 can be disposed between the plurality of finger portions 12. The apparatus further includes a finger movement determination unit 130 that determines whether movement is possible. The finger movement determination unit 130 determines that the grip target 60 cannot be gripped when the movement determination is made by the movement determination. With such a configuration, it is possible to accurately and quickly determine whether or not the grip target object 60 can be gripped.
なお、第2アプローチ処理において、ステップS16およびステップS25については、省略することができる。すなわち、指移動判定部130を省略してもよいし、また、第1再配置判定において配置不可判定がなされた場合に第2移動を行わないようにしてもよい。
In the second approach processing, steps S16 and S25 can be omitted. That is, the finger movement determination unit 130 may be omitted, or the second movement may not be performed when the placement failure determination is made in the first rearrangement determination.
また、ステップS12で配置判定が行われて、一部の指部12に対して配置不可判定がなされた場合、ステップS22で第1移動を行わずに、配置可判定がされた指部12が把持対象物60に接近するように掌部11を掌接近方向Aに交差する方向に移動させるようにしてもよい。このように構成することで、第2アプローチ処理を簡略して、制御装置100の負荷を軽減することができる。
Further, when the placement determination is performed in step S12 and the placement failure determination is made for some of the finger parts 12, the finger part 12 for which the placement determination is performed is performed without performing the first movement in step S22. The palm 11 may be moved in a direction intersecting with the palm approaching direction A so as to approach the object 60 to be grasped. With this configuration, the second approach processing can be simplified, and the load on the control device 100 can be reduced.
以上、図面を参照して本開示における種々の実施形態を詳細に説明したが、最後に、本開示の種々の態様について説明する。なお、以下の説明では、一例として、参照符号も添えて記載する。
As described above, various embodiments of the present disclosure have been described in detail with reference to the drawings. Finally, various aspects of the present disclosure will be described. In the following description, reference numerals are also given as an example.
本開示の第1態様のエンドエフェクタ装置1は、
掌部11と、延在方向の一端部121が前記掌部11に接続されていると共に、前記延在方向に交差する方向でかつ互いに接近する方向にそれぞれ移動して把持対象物60を把持する把持動作可能な複数の指部12とを有し、前記複数の指部12の少なくとも1つにおける前記延在方向の他端部122に近接センサ部13がそれぞれ設けられ、前記近接センサ部13が、前記延在方向における前記把持対象物60および周辺環境の物体70に対する前記近接センサ部13の接近または開離を検出可能であると共に、前記延在方向における前記近接センサ部13に対する前記把持対象物60および前記物体70の接近または開離を検出可能に配置されたエンドエフェクタ10と、
前記エンドエフェクタ10の前記掌部11および前記複数の指部12の各々を駆動させる駆動装置30と、
前記近接センサ部13を前記把持対象物60に対向させて前記近接センサ部13により把持対象物60および周辺環境の物体70を検出可能な状態で、前記掌部11を前記把持対象物60に接近させる移動制御部140と、
前記把持対象物60における前記掌部11が前記把持対象物60に接近する掌接近方向Aまわりでかつ前記複数の指部12の全てが前記把持対象物60と前記物体70との間に位置して前記把持動作により前記把持対象物60を把持可能な把持位置P2よりも、前記掌接近方向Aにおいて前記把持対象物60から離れた接近位置P1を決定する接近位置決定部110と
を備え、
前記移動制御部140は、
前記エンドエフェクタ10が前記接近位置P1まで移動するときに、前記近接センサ部13により検出された検出結果に基づいて、前記掌部11および前記複数の指部12の各々に対して前記把持対象物60および前記物体70が接触する可能性がある場合には、前記掌部11の前記把持対象物60への接近移動を停止させる。 Theend effector device 1 according to the first aspect of the present disclosure includes:
Thepalm part 11 and one end 121 in the extending direction are connected to the palm part 11, and each of the palm parts 11 is moved in a direction crossing the extending direction and in a direction approaching each other to grip the grip target 60. A plurality of fingers 12 capable of performing a gripping operation, and a proximity sensor 13 is provided at the other end 122 in the extending direction of at least one of the plurality of fingers 12; , The approach or separation of the proximity sensor unit 13 with respect to the grip target object 60 and the surrounding environment object 70 in the extension direction can be detected, and the grip target object with respect to the proximity sensor unit 13 in the extension direction. An end effector 10 arranged to detect approach or separation of the object 60 and the object 70;
A drivingdevice 30 for driving each of the palm portion 11 and the plurality of finger portions 12 of the end effector 10,
Thepalm unit 11 approaches the grip target 60 in a state where the proximity sensor unit 13 is opposed to the grip target 60 and the proximity sensor unit 13 can detect the grip target 60 and the surrounding environment object 70. A movement control unit 140 for causing
Thepalm 11 of the grasping target 60 approaches the palm approaching direction A in which the palm 11 approaches the grasping target 60, and all of the plurality of fingers 12 are located between the grasping target 60 and the object 70. An approach position determining unit 110 that determines an approach position P1 away from the grip object 60 in the palm approach direction A, rather than a grip position P2 at which the grip object 60 can be gripped by the grip operation,
The movement control unit 140 includes:
When theend effector 10 moves to the approach position P <b> 1, the object to be gripped is applied to each of the palm 11 and the plurality of fingers 12 based on a detection result detected by the proximity sensor 13. When there is a possibility that the object 60 comes into contact with the object 60, the approach movement of the palm 11 to the object 60 to be grasped is stopped.
掌部11と、延在方向の一端部121が前記掌部11に接続されていると共に、前記延在方向に交差する方向でかつ互いに接近する方向にそれぞれ移動して把持対象物60を把持する把持動作可能な複数の指部12とを有し、前記複数の指部12の少なくとも1つにおける前記延在方向の他端部122に近接センサ部13がそれぞれ設けられ、前記近接センサ部13が、前記延在方向における前記把持対象物60および周辺環境の物体70に対する前記近接センサ部13の接近または開離を検出可能であると共に、前記延在方向における前記近接センサ部13に対する前記把持対象物60および前記物体70の接近または開離を検出可能に配置されたエンドエフェクタ10と、
前記エンドエフェクタ10の前記掌部11および前記複数の指部12の各々を駆動させる駆動装置30と、
前記近接センサ部13を前記把持対象物60に対向させて前記近接センサ部13により把持対象物60および周辺環境の物体70を検出可能な状態で、前記掌部11を前記把持対象物60に接近させる移動制御部140と、
前記把持対象物60における前記掌部11が前記把持対象物60に接近する掌接近方向Aまわりでかつ前記複数の指部12の全てが前記把持対象物60と前記物体70との間に位置して前記把持動作により前記把持対象物60を把持可能な把持位置P2よりも、前記掌接近方向Aにおいて前記把持対象物60から離れた接近位置P1を決定する接近位置決定部110と
を備え、
前記移動制御部140は、
前記エンドエフェクタ10が前記接近位置P1まで移動するときに、前記近接センサ部13により検出された検出結果に基づいて、前記掌部11および前記複数の指部12の各々に対して前記把持対象物60および前記物体70が接触する可能性がある場合には、前記掌部11の前記把持対象物60への接近移動を停止させる。 The
The
A driving
The
The
The movement control unit 140 includes:
When the
第1態様のエンドエフェクタ装置1によれば、把持対象物60および周辺環境の物体70に接触することなく、エンドエフェクタ10を接近位置に移動させることが可能なエンドエフェクタ装置1を実現できる。
According to the end effector device 1 of the first aspect, it is possible to realize the end effector device 1 that can move the end effector 10 to the approach position without contacting the grasp target 60 and the object 70 in the surrounding environment.
本開示の第2態様のエンドエフェクタ装置1は、
前記エンドエフェクタ10は、
前記複数の指部12の各々に前記近接センサ部13がそれぞれ設けられており、
前記移動制御部140は、
前記複数の指部12の各々を前記延在方向に交差する方向において互いに接近させて閉じた状態で、前記エンドエフェクタ10を前記接近位置P1まで移動させる。 Theend effector device 1 according to the second aspect of the present disclosure includes:
Theend effector 10
Theproximity sensor unit 13 is provided on each of the plurality of finger units 12,
The movement control unit 140 includes:
Theend effector 10 is moved to the approach position P1 in a state where each of the plurality of finger portions 12 is close to each other in a direction intersecting the extending direction and is closed.
前記エンドエフェクタ10は、
前記複数の指部12の各々に前記近接センサ部13がそれぞれ設けられており、
前記移動制御部140は、
前記複数の指部12の各々を前記延在方向に交差する方向において互いに接近させて閉じた状態で、前記エンドエフェクタ10を前記接近位置P1まで移動させる。 The
The
The
The movement control unit 140 includes:
The
第2態様のエンドエフェクタ装置1によれば、各指部12の近接センサ部13をアレイとして用いることができるので、掌接近方向Aのエンドエフェクタ10に対する把持対象物60および周辺環境の物体70の接近または開離をより正確に検出することができる。
According to the end effector device 1 of the second embodiment, the proximity sensor unit 13 of each finger unit 12 can be used as an array. Approach or separation can be detected more accurately.
本開示の第3態様のエンドエフェクタ装置1は、
前記移動制御部140は、
前記エンドエフェクタ10を前記接近位置P1に移動させる前に、前記近接センサ部13により検出された検出結果に基づいて、前記掌接近方向Aにおける前記エンドエフェクタ10に対する前記把持対象物60の位置が把握できるか否かの判定を行う。 Theend effector device 1 according to a third aspect of the present disclosure includes:
The movement control unit 140 includes:
Before moving theend effector 10 to the approach position P1, the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A is grasped based on the detection result detected by the proximity sensor unit 13. It is determined whether or not it is possible.
前記移動制御部140は、
前記エンドエフェクタ10を前記接近位置P1に移動させる前に、前記近接センサ部13により検出された検出結果に基づいて、前記掌接近方向Aにおける前記エンドエフェクタ10に対する前記把持対象物60の位置が把握できるか否かの判定を行う。 The
The movement control unit 140 includes:
Before moving the
第3態様のエンドエフェクタ装置1によれば、エンドエフェクタ10を把持対象物60に向かってより正確に移動させることができる。
According to the end effector device 1 of the third aspect, the end effector 10 can be more accurately moved toward the grasp target 60.
本開示の第4態様のエンドエフェクタ装置1は、
前記移動制御部140は、
前記掌接近方向Aにおける前記エンドエフェクタ10に対する前記把持対象物60の位置が把握できないと判定した場合、前記掌接近方向Aにおける前記エンドエフェクタ10に対する前記把持対象物60の位置が把握できると判定されるまで、前記エンドエフェクタ10を前記掌接近方向Aに交差する方向に移動させる。 Theend effector device 1 according to a fourth aspect of the present disclosure includes:
The movement control unit 140 includes:
When it is determined that the position of thegrip target 60 with respect to the end effector 10 in the palm approach direction A cannot be determined, it is determined that the position of the grip target 60 with respect to the end effector 10 in the palm approach direction A can be determined. Until the end effector 10 moves in the direction intersecting the palm approaching direction A.
前記移動制御部140は、
前記掌接近方向Aにおける前記エンドエフェクタ10に対する前記把持対象物60の位置が把握できないと判定した場合、前記掌接近方向Aにおける前記エンドエフェクタ10に対する前記把持対象物60の位置が把握できると判定されるまで、前記エンドエフェクタ10を前記掌接近方向Aに交差する方向に移動させる。 The
The movement control unit 140 includes:
When it is determined that the position of the
第4態様のエンドエフェクタ装置1によれば、エンドエフェクタ10を把持対象物60に向かってより正確に移動させることができる。
According to the end effector device 1 of the fourth aspect, the end effector 10 can be more accurately moved toward the object 60 to be grasped.
本開示の第5態様のエンドエフェクタ装置1は、
前記移動制御部140は、
前記近接センサ部13により検出された検出結果に基づいて、前記エンドエフェクタ10が前記接近位置P1に移動したか否かを判定する。 Theend effector device 1 according to a fifth aspect of the present disclosure includes:
The movement control unit 140 includes:
Based on the detection result detected by theproximity sensor unit 13, it is determined whether the end effector 10 has moved to the approach position P1.
前記移動制御部140は、
前記近接センサ部13により検出された検出結果に基づいて、前記エンドエフェクタ10が前記接近位置P1に移動したか否かを判定する。 The
The movement control unit 140 includes:
Based on the detection result detected by the
第5態様のエンドエフェクタ装置1によれば、エンコーダなどの機器を設けることなく、エンドエフェクタ10が接近位置P1に移動したか否かを判定することができる。
According to the end effector device 1 of the fifth aspect, it is possible to determine whether or not the end effector 10 has moved to the approach position P1 without providing any device such as an encoder.
本開示の第6態様のエンドエフェクタ装置1は、
前記移動制御部140は、
前記掌接近方向Aにおいて、前記エンドエフェクタ10が前記接近位置P1よりも前記把持対象物60から離れた速度変更位置P3まで移動したときに、前記速度変更位置P3よりも前記把持対象物60から離れた位置P0と前記速度変更位置P3との間の前記エンドエフェクタ10の移動速度である第1移動速度から、前記第1移動速度よりも小さい第2移動速度に変更する。 Anend effector device 1 according to a sixth aspect of the present disclosure includes:
The movement control unit 140 includes:
In the palm approach direction A, when theend effector 10 moves to a speed change position P3 farther from the grip target object 60 than the approach position P1, the end effector 10 is farther from the grip target object 60 than the speed change position P3. From the first moving speed, which is the moving speed of the end effector 10 between the moved position P0 and the speed changing position P3, to a second moving speed smaller than the first moving speed.
前記移動制御部140は、
前記掌接近方向Aにおいて、前記エンドエフェクタ10が前記接近位置P1よりも前記把持対象物60から離れた速度変更位置P3まで移動したときに、前記速度変更位置P3よりも前記把持対象物60から離れた位置P0と前記速度変更位置P3との間の前記エンドエフェクタ10の移動速度である第1移動速度から、前記第1移動速度よりも小さい第2移動速度に変更する。 An
The movement control unit 140 includes:
In the palm approach direction A, when the
第6態様のエンドエフェクタ装置1によれば、エンドエフェクタ10を接近位置P1まで移動させるときにおけるエンドエフェクタ10の把持対象物60に対する意図しない接触をより確実に回避することができる。
According to the end effector device 1 of the sixth aspect, unintended contact of the end effector 10 with the object 60 to be gripped when the end effector 10 is moved to the approach position P1 can be more reliably avoided.
なお、前記様々な実施形態または変形例のうちの任意の実施形態または変形例を適宜組み合わせることにより、それぞれの有する効果を奏するようにすることができる。また、実施形態同士の組み合わせまたは実施例同士の組み合わせまたは実施形態と実施例との組み合わせが可能であると共に、異なる実施形態または実施例の中の特徴同士の組み合わせも可能である。
効果 Note that by appropriately combining any of the above-described various embodiments or modifications, the effects of the respective embodiments or modifications can be achieved. Further, a combination of the embodiments or a combination of the examples or a combination of the embodiment and the example is possible, and a combination of the features in different embodiments or the examples is also possible.
本開示は、添付図面を参照しながら好ましい実施形態に関連して充分に記載されているが、この技術の熟練した人々にとっては種々の変形や修正は明白である。そのような変形や修正は、添付した請求の範囲による本開示の範囲から外れない限りにおいて、その中に含まれると理解されるべきである。
Although the present disclosure has been fully described in connection with preferred embodiments with reference to the accompanying drawings, various variations and modifications will be apparent to those skilled in the art. It is to be understood that such changes and modifications are included therein unless they depart from the scope of the present disclosure as set forth in the appended claims.
本開示のエンドエフェクタは、例えば、産業用ロボットのエンドエフェクタ装置に適用できる。
The end effector of the present disclosure can be applied to, for example, an end effector device of an industrial robot.
本開示のエンドエフェクタ装置は、例えば、産業用ロボットに適用できる。
エ ン ド The end effector device of the present disclosure can be applied to, for example, an industrial robot.
1 エンドエフェクタ装置
10 エンドエフェクタ
11 掌部
12 指部
121 基端部
122 先端部
123 把持面
124 先端面
13 近接センサ部
131 電極
14 第1検出領域
15 第2検出領域
16 第1の補助近接センサ部
17 第2の補助近接センサ部
20 アーム
30 駆動装置
40 操作部
50 電源
60 把持対象物
100 制御装置
110 接近位置決定部
120 指配置判定部
130 指移動判定部
140 移動制御部
CL 中心線
P1 接近位置
P2 把持位置
P3 速度変更位置 DESCRIPTION OFSYMBOLS 1 End effector apparatus 10 End effector 11 Palm part 12 Finger part 121 Base end part 122 Tip part 123 Holding surface 124 Tip surface 13 Proximity sensor part 131 Electrode 14 First detection area 15 Second detection area 16 First auxiliary proximity sensor part 17 Second auxiliary proximity sensor unit 20 Arm 30 Drive unit 40 Operation unit 50 Power supply 60 Object to be gripped 100 Control unit 110 Approach position determination unit 120 Finger arrangement determination unit 130 Finger movement determination unit 140 Movement control unit CL Center line P1 Approach position P2 Gripping position P3 Speed change position
10 エンドエフェクタ
11 掌部
12 指部
121 基端部
122 先端部
123 把持面
124 先端面
13 近接センサ部
131 電極
14 第1検出領域
15 第2検出領域
16 第1の補助近接センサ部
17 第2の補助近接センサ部
20 アーム
30 駆動装置
40 操作部
50 電源
60 把持対象物
100 制御装置
110 接近位置決定部
120 指配置判定部
130 指移動判定部
140 移動制御部
CL 中心線
P1 接近位置
P2 把持位置
P3 速度変更位置 DESCRIPTION OF
Claims (6)
- 掌部と、延在方向の一端部が前記掌部に接続されていると共に、前記延在方向に交差する方向でかつ互いに接近する方向にそれぞれ移動して把持対象物を把持する把持動作可能な複数の指部とを有し、前記複数の指部の少なくとも1つにおける前記延在方向の他端部に近接センサ部がそれぞれ設けられ、前記近接センサ部が、前記延在方向における前記把持対象物および周辺環境の物体に対する前記近接センサ部の接近または開離を検出可能であると共に、前記延在方向における前記近接センサ部に対する前記把持対象物および前記物体の接近または開離を検出可能に配置されたエンドエフェクタと、
前記エンドエフェクタの前記掌部および前記複数の指部の各々を駆動させる駆動装置と、
前記近接センサ部を前記把持対象物に対向させて前記近接センサ部により前記把持対象物および前記物体を検出可能な状態で、前記掌部を前記把持対象物に接近移動させる移動制御部と、
前記把持対象物における前記掌部が前記把持対象物に接近する掌接近方向まわりでかつ前記複数の指部の全てが前記把持対象物と前記物体との間に位置して前記把持動作により前記把持対象物を把持可能な把持位置よりも、前記掌接近方向において前記把持対象物から離れた接近位置を決定する接近位置決定部と
を備え、
前記移動制御部は、
前記エンドエフェクタが前記接近位置まで移動するときに、前記近接センサ部により検出された検出結果に基づいて、前記掌部および前記複数の指部の各々に対して前記把持対象物および前記物体が接触する可能性がある場合には、前記掌部の前記把持対象物への接近移動を停止させる、エンドエフェクタ装置。 A palm and one end in the extending direction are connected to the palm, and a gripping operation of gripping an object to be gripped by moving in a direction crossing the extending direction and approaching each other is possible. A plurality of finger portions, and a proximity sensor portion is provided at the other end of the at least one of the plurality of finger portions in the extending direction, and the proximity sensor portion is provided for the grip target in the extending direction. An approach or separation of the proximity sensor unit with respect to an object and an object in a surrounding environment can be detected, and an approach or separation of the gripping target object and the object with respect to the proximity sensor unit in the extending direction can be detected. End effector
A drive device for driving each of the palm portion and the plurality of finger portions of the end effector,
A movement control unit that moves the palm toward the gripped object in a state in which the proximity sensor unit is opposed to the gripped object and the grip sensor and the object can be detected by the proximity sensor unit;
The palm of the object to be grasped is around a palm approaching direction in which the object approaches the object to be grasped, and all of the plurality of finger portions are located between the object to be grasped and the object, and the grasping operation is performed. An approach position determining unit that determines an approach position away from the object to be gripped in the palm approach direction, rather than a grip position at which the object can be gripped,
The movement control unit includes:
When the end effector moves to the approach position, the grip target and the object come into contact with each of the palm and the plurality of fingers based on a detection result detected by the proximity sensor. An end effector device that stops the approach movement of the palm portion to the object to be grasped when there is a possibility that the palm portion will be moved. - 前記エンドエフェクタは、
前記複数の指部の各々に前記近接センサ部がそれぞれ設けられており、
前記移動制御部は、
前記複数の指部の各々を前記延在方向に交差する方向において互いに接近させて閉じた状態で、前記エンドエフェクタを前記接近位置まで移動させる、請求項1のエンドエフェクタ装置。 The end effector is
The proximity sensor unit is provided on each of the plurality of finger units,
The movement control unit includes:
The end effector device according to claim 1, wherein the end effector is moved to the approach position in a state where each of the plurality of finger portions is close to each other in a direction intersecting the extending direction and is closed. - 前記移動制御部は、
前記エンドエフェクタを前記接近位置に移動させる前に、前記近接センサ部により検出された検出結果に基づいて、前記掌接近方向における前記エンドエフェクタに対する前記把持対象物の位置が把握できるか否かの判定を行う、請求項2のエンドエフェクタ装置。 The movement control unit includes:
Before moving the end effector to the approach position, it is determined whether or not the position of the object to be gripped with respect to the end effector in the palm approach direction can be grasped based on a detection result detected by the proximity sensor unit. 3. The end effector device of claim 2, wherein: - 前記移動制御部は、
前記掌接近方向における前記エンドエフェクタに対する前記把持対象物の位置が把握できないと判定した場合、前記掌接近方向における前記エンドエフェクタに対する前記把持対象物の位置が把握できると判定されるまで、前記エンドエフェクタを前記掌接近方向に交差する方向に移動させる、請求項3のエンドエフェクタ装置。 The movement control unit includes:
If it is determined that the position of the grip target object with respect to the end effector in the palm approach direction cannot be determined, the end effector is determined until it is determined that the position of the grip target object with respect to the end effector in the palm approach direction can be determined. 4. The end effector device according to claim 3, wherein the end effector device is moved in a direction crossing the palm approaching direction. - 前記移動制御部は、
前記近接センサ部により検出された検出結果に基づいて、前記エンドエフェクタが前記接近位置に移動したか否かを判定する、請求項1から4のいずれか1つのエンドエフェクタ装置。 The movement control unit includes:
The end effector device according to any one of claims 1 to 4, wherein it is determined whether or not the end effector has moved to the approach position based on a detection result detected by the proximity sensor unit. - 前記移動制御部は、
前記掌接近方向において、前記エンドエフェクタが前記接近位置よりも前記把持対象物から離れた速度変更位置まで移動したときに、前記速度変更位置よりも前記把持対象物から離れた位置と前記速度変更位置との間の前記エンドエフェクタの移動速度である第1移動速度から、前記第1移動速度よりも小さい第2移動速度に変更する、請求項1から5のいずれか1つのエンドエフェクタ装置。 The movement control unit includes:
In the palm approaching direction, when the end effector moves to a speed change position farther from the grip target than the approach position, a position further away from the grip target than the speed change position and the speed change position The end effector device according to any one of claims 1 to 5, wherein a first moving speed, which is a moving speed of the end effector, is changed to a second moving speed smaller than the first moving speed.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018-179302 | 2018-09-25 | ||
JP2018179302A JP6947145B2 (en) | 2018-09-25 | 2018-09-25 | End effector device |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020066066A1 true WO2020066066A1 (en) | 2020-04-02 |
Family
ID=69951296
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2019/009920 WO2020066066A1 (en) | 2018-09-25 | 2019-03-12 | End effecter device |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP6947145B2 (en) |
WO (1) | WO2020066066A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112621794A (en) * | 2020-12-21 | 2021-04-09 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
CN112621795A (en) * | 2020-12-21 | 2021-04-09 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
CN112720486A (en) * | 2020-12-21 | 2021-04-30 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61105594U (en) * | 1984-12-14 | 1986-07-04 | ||
JPH04159094A (en) * | 1990-10-23 | 1992-06-02 | Natl Space Dev Agency Japan<Nasda> | Automatic manipulator hand |
JPH08141956A (en) * | 1994-11-17 | 1996-06-04 | Sanyo Electric Co Ltd | Method for controlling object gripping robot |
-
2018
- 2018-09-25 JP JP2018179302A patent/JP6947145B2/en active Active
-
2019
- 2019-03-12 WO PCT/JP2019/009920 patent/WO2020066066A1/en active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61105594U (en) * | 1984-12-14 | 1986-07-04 | ||
JPH04159094A (en) * | 1990-10-23 | 1992-06-02 | Natl Space Dev Agency Japan<Nasda> | Automatic manipulator hand |
JPH08141956A (en) * | 1994-11-17 | 1996-06-04 | Sanyo Electric Co Ltd | Method for controlling object gripping robot |
Non-Patent Citations (1)
Title |
---|
MOTOMAN ENGINEERING: "Non-official translation: Operation Education Manual, YRC/DX/NX", MOTOMAN YRC/DX/NX, December 2017 (2017-12-01) * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112621794A (en) * | 2020-12-21 | 2021-04-09 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
CN112621795A (en) * | 2020-12-21 | 2021-04-09 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
CN112720486A (en) * | 2020-12-21 | 2021-04-30 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
Also Published As
Publication number | Publication date |
---|---|
JP2020049567A (en) | 2020-04-02 |
JP6947145B2 (en) | 2021-10-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2020066066A1 (en) | End effecter device | |
JP6661001B2 (en) | System and method for determining work offset | |
JP7147419B2 (en) | end effector device | |
US9919424B1 (en) | Analog control switch for end-effector | |
JP6663978B2 (en) | System and method for determining tool offset | |
US10675767B2 (en) | Robot system and robot controller | |
CN113165187A (en) | Image information processing device, gripping system, and image information processing method | |
WO2020066064A1 (en) | End effector and end effector device | |
JP2015071207A (en) | Robot hand and control method thereof | |
JPH04240087A (en) | Gripping method and device | |
WO2020066065A1 (en) | End effecter device | |
JP2015085481A (en) | Robot, robot system, robot control device and gripping method | |
JP6988757B2 (en) | End effector and end effector device | |
JP2022115341A (en) | Cable termination detection method and hand | |
JP2015085501A (en) | Robot, robot system and robot control device | |
JP7226474B2 (en) | gripping device | |
US20200338720A1 (en) | Robot | |
US20190143533A1 (en) | Gripping tongs | |
WO2020110237A1 (en) | Contact state recognition device and robot system | |
WO2019098027A1 (en) | Gripping system and control method for same | |
JP2023006241A (en) | Piezoelectric sensor and hand | |
JP2019188546A (en) | Gripping method of robot hand | |
Su et al. | A new, simple and universal four-finger gripper for 3D objects grasping | |
JP2015104763A (en) | Control method of robot device and robot device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19864918 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 19864918 Country of ref document: EP Kind code of ref document: A1 |