Electric hand with a force sensor
AssigneeFanuc Corporation
InventorTesuro SAKANO
Life of this patent
Estimating the term…
Abstract
When a gripping instruction is issued, a position feedback control is performed so that an actuator of an electric hand is driven and a finger portion is moved toward a predetermined position target value. When the finger portion comes into contact with a target, the contact is determined by a force sensor. Then, the position feedback control is switched to a force feedback control, and the actuator is driven so that a force detection value obtained by the force sensor matches a predetermined force target value, so that the target may be gripped by an accurate gripping force.
Claims5
An electric hand comprising:
- a finger portion that includes a plurality of fingers configured to be opened and closed to grip a target;
- an actuator that drives the finger portion;
- at least one force sensor that is provided in the finger portion and detects a force acting in an opening and closing direction of the fingers;
- a position sensor that detects a movement amount of the finger portion;
- a driving unit that drives the actuator;
- a position control unit that performs a position feedback control based on a position detection value from the position sensor when a gripping instruction is issued, and outputs a drive instruction to the driving unit to drive the actuator, thereby moving the finger portion toward a predetermined position target value;
- a force control unit that performs a force feedback control based on a force detection value from the force sensor and outputs a drive instruction to the driving unit to drive the actuator, thereby driving the actuator so that the force detection value matches a predetermined force target value;
- a contact determining unit that determines a contact of the finger portion with the target by detecting a state where the force detection value exceeds a predetermined force contact value;
- and
- a control switching unit that switches the drive instruction to the driving unit from the position control unit to the force control unit when the contact determining unit determines the contact of the finger portion with the target.
An electric hand comprising:
- a finger portion that includes a plurality of fingers configured to be opened and closed to grip a target;
- an actuator that drives the finger portion;
- at least one force sensor that is provided in the finger portion and detects a force acting in an opening and closing direction of the fingers;
- a position sensor that detects the movement amount of the finger portion;
- a driving unit that drives the actuator;
- a position control unit that performs a position feedback control based on a position detection value from the position sensor when a gripping instruction is issued, and outputs a drive instruction to the driving unit to drive the actuator, thereby moving the finger portion toward a predetermined position target value;
- a contact determining unit that determines a contact of the finger portion with the target by detecting a state where a force detection value from the force sensor exceeds a predetermined force contact value;
- and
- a contact stop unit that outputs a stop instruction to the position control unit to stop the movement of the actuator when the contact determining unit determines the contact of the finger portion with the target, and outputs a completion signal.
Dependencies are inferred from the claim text.