Robot hand, robot apparatus, and method of controlling robot hand
AssigneeCanon Kabushiki Kaisha
InventorManabu Umeyama
Life of this patent
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Abstract
A robot hand according to the present invention controls finger units by a central processing unit (CPU) based on two or more types of gripping mode tables for different purposes when a gripping object is gripped by the finger units.
Claims17
A robot apparatus comprising;
- A robot hand that includes three or more finger units and grips an object by the finger units;
- and
- a control unit configured to
- control the robot hand to grip the object in the robot hand and move the gripped object in a direction and use one or more of the finger units as regulation units each regulating the gripped object so that the gripped object does not move in a direction opposite to a direction in which the gripped object is moved by the robot hand.
The robot hand according to claim I, wherein the control unit includes a plurality of gripping modes to grip the object, grips the object in a gripping mode that is different from a gripping mode in which one or more of the finger units are used as the regulation units, and switches the gripping mode to the gripping mode in which one or more of the finger units are used as the regulation units after the object is conveyed to a predetermined position.
A robot apparatus comprising:
- A robot hand that includes three or more finger units and grips an object by the finger units;
- and
- a control unit configured to
- detect an abnormality of the finger units by an abnormality detection unit, control the robot hand to retract one or more of the finger units in which an abnormality has been detected by the abnormality detection unit, to predetermined retracting positions that do not interfere with a gripping operation for the object.
A method of controlling a robot hand that, includes three or more finger units and grips an object by the finger units, the robot hand including a driving mechanism, a pivoting mechanism, and a control unit, the driving mechanism causing the three or more finger units to independently approach one another or independently separate from one another, the pivoting mechanism turning two or more of the three or more finger units to change an approaching direction or a separating direction of the two or more finger units, and the control unit controlling the driving mechanism and. the pivoting mechanism, the method comprising:
- gripping the object with use of at least two of the finger units;
- and
- regulating, when the gripped object is moved, the gripped object not to move in a direction opposite to a direction in which the gripped object is moved by the robot hand, by one or more of the finger units.
Dependencies are inferred from the claim text.