Apparatus and method for robot handling control
AssigneePanasonic Corporation
InventorsShusasku Okamoto, Masamichi Nakagawa, Yasunao Okazaki, Takashi Anezaki, Tamao Okamoto
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Abstract
A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.
Claims12
A method for controlling robot handling comprising:
- a) determining a direction of an external force acting upon an object, the external force exclusive of a grasp force by a robot grasping the object;
- b) determining whether the direction of the external force corresponds to a first direction or to a second direction, said second direction being substantially downward;
- c) when the direction of the external force corresponds to the first direction, a) moving the robot in a direction different from the first direction of the external force and b) releasing the grasped object if a reactive external force is detected acting on the grasped object;
- and
- d) when the direction of the external force corresponds to the second direction, a) reducing the grasp force on the grasped object and b) strengthening the grasp force on the grasped object if a slippage of the grasped object is detected.
Apparatus for controlling robot handling, said apparatus comprising:
- a determination unit for:
- a) determining a direction of an external force acting upon an object, the external force exclusive of a grasp force by a robot grasping the object;
- and
- b) determining whether the direction of the external force corresponds to a first direction or to a second direction, said second direction being substantially downward;
- wherein when the direction of the external force corresponds to the first direction, a) moving the robot in a direction different from the first direction of the external force and b) releasing the grasped object if a reactive external force is detected acting on the grasped object;
- and
- wherein when the direction of the external force corresponds to the second direction, a) reducing the grasp force on the grasped object and b) strengthening the grasp force on the grasped object if a slippage of the grasped object is detected.
Dependencies are inferred from the claim text.