Robotic device and gripping method
AssigneeKYOCERA Document Solutions Inc.
InventorHaruki Shoji
Life of this patent
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Abstract
A robotic device includes an end effector device, a first sensor, and a controller. The end effector device includes two fingers for gripping a workpiece. The first sensor detects a pressure distribution on a gripping position on the workpiece by the two fingers. The controller performs, based on a temporal variation in the pressure distribution when the workpiece is lifted, posture control including rotation of the end effector device.
Claims10
A robotic device comprising:
- an end effector device including two fingers for gripping a workpiece;
- a first sensor configured to detect a pressure distribution on a gripping position on the workpiece by the two fingers;
- a second sensor configured to detect gripping torque on the workpiece;
- and
- a controller configured to perform, based on a temporal variation in the pressure distribution when the workpiece is lifted, posture control including rotation of the end effector device, wherein
- the controller includes a learning section which, based on a plurality of trials including the gripping of the workpiece using the two fingers and movement and rotation of a tool center point of the end effector device, performs supervised learning having been provided as learning data the temporal variation in the pressure distribution, a movement amount, a rotation amount, and a movement speed of the tool center point, and the gripping torque and having been provided as a label a movement amount of the pressure distribution after the rotation, and
- the learning section determines, based on a result of the supervised learning, the movement amount and the rotation amount of the tool center point to decrease the movement amount of the pressure distribution after the posture control.
A gripping method for gripping a workpiece using a robotic device including an end effector device a first sensor, and a second sensor, the end effector device including two fingers, the first sensor for detecting a pressure distribution on a gripping position on the workpiece by the two fingers, the second sensor for detecting gripping torque on the workpiece, the gripping method comprising:
- gripping the workpiece using the two fingers;
- detecting a pressure distribution on a gripping position on the workpiece;
- and
- performing, based on a temporal variation in the pressure distribution when the workpiece is lifted, posture control including rotation of the end effector device,
- performing, based on a plurality of trials including the gripping of the workpiece using the two fingers and movement and rotation of a tool center point of the end effector device, supervised learning having been provided as learning data the temporal variation in the pressure distribution, a movement amount, a rotation amount, and a movement speed of the tool center point, and the gripping torque and having been provided as a label a movement amount of the pressure distribution after the rotation;
- and
- determining, based on a result of the supervised learning, the movement amount and the rotation amount of the tool center point to decrease the movement amount of the pressure distribution after the posture control.
Dependencies are inferred from the claim text.