Gripping Device, Robot, And Control Method For Gripping Device
AssigneeSeiko Epson Corporation
InventorsTakayuki YONEMURA, Takayuki KITAZAWA
Life of this patent
Estimating the term…
Abstract
A gripping device includes a gripper gripping an object by decreasing a distance to the object, a pressure sensor provided in the gripper, detecting a contact force applied from the object when contacting with the object, and outputting a detection signal, a driver driving the gripper, and a first controller controlling operation of the driver based on the detection signal, wherein the first controller operates the driver in a first drive mode for decreasing the distance at a first speed when the detection signal is not output, and operates the driver in a second drive mode for decreasing the distance at a second speed lower than the first speed when the detection signal is output.
Claims9
A gripping device comprising:
- a gripper gripping an object;
- a pressure sensor provided in the gripper, detecting a contact force applied from the object when contacting between the gripper and the object, and outputting a detection signal;
- a driver driving the gripper;
- and
- a first controller controlling operation of the driver based on the detection signal, wherein
- the first controller operates the driver in a first drive mode for decreasing a distance between the gripper and the object at a first speed when the detection signal is not output, and operates the driver in a second drive mode for decreasing the distance between the gripper and the object at a second speed lower than the first speed when the detection signal is output.
A control method for a gripping device including a gripper gripping an object by decreasing a distance to the object, a pressure sensor provided in the gripper, detecting a contact force applied from the object in contact with the object, and outputting a detection signal, and a driver driving the gripper,
- the method comprising:
- operating the driver in a first drive mode for decreasing the distance at a first speed when the detection signal is not output;
- and
- operating the driver in a second drive mode for decreasing the distance at a second speed lower than the first speed when the detection signal is output.
Dependencies are inferred from the claim text.