Robot apparatus and gripping method for use in robot apparatus
AssigneeKabushiki Kaisha Yaskawa Denki
InventorMayumi UMETSU
Life of this patent
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Abstract
A robot apparatus includes a robot arm, a multi-fingered hand disposed at an end of the robot arm and including a force sensor for use in force control, an image processor that acquires at least location information on a gripping target by detection made by a visual sensor, and a control device that moves the robot arm on the basis of the at least location information on the gripping target acquired by the image processor to cause the multi-fingered hand to approach the gripping target, detects a contact location of actual contact with the gripping target on the basis of an output of the force sensor of the multi-fingered hand, and modifies the location information on the gripping target on the basis of information indicating the detected contact location.
Claims10
A robot apparatus comprising:
- a robot arm;
- a multi-fingered hand disposed at an end of the robot arm and including at least one fingertip force sensor for use in force control;
- an information acquiring unit that acquires at least location information on a target by an input from a user or by detection made by a detection unit;
- and
- a controller that moves the robot arm to cause the multi-fingered hand to approach the target on the basis of the at least location information on the target acquired by the information acquiring unit, detects a contact location of actual contact with the target on the basis of an output of the at least one fingertip force sensor of the multi-fingered hand, and modifies the location information on the target on the basis of information indicating the detected contact location.
A gripping method for use in a robot apparatus including a robot arm having an end on which a multi-fingered hand including a fingertip force sensor is disposed, the gripping method comprising the steps of:
- acquiring at least location information on a target;
- moving the robot arm on the basis of the at least acquired location information on the target to cause the multi-fingered hand at the end of the robot arm to approach the target and detecting a contact location of actual contact with the target on the basis of an output of the fingertip force sensor of the multi-fingered hand;
- and
- modifying the location information on the target on the basis of information indicating the detected contact location.
Dependencies are inferred from the claim text.