Robot hand and method of controlling the same
AssigneeSamsung Electronics Co., Ltd.
InventorsKyung Won Moon, Hyun Kyu Kim, Jong Do Choi
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Abstract
Disclosed herein is a method of controlling a robot hand similar to a hand of a human being such that the robot hand naturally and safely grasps an object. The robot hand, including fingers and a palm, is capable of naturally and safely grasping an object, by the tip of each finger performing impedance control while following the optimal path on a Cartesian coordinate system, although the robot hand cannot reach a position ideal to grasp the object due to sensor errors or shape information of the object to be grasped is not correctly recognized. Also, the robot hand is capable of stably grasping the object even when moving or manipulating the object.
Claims19
A method of controlling a robot hand having a palm and a plurality of fingers connected to the palm, the method comprising:
- setting a plurality of target positions for the respective fingers;
- creating grasp paths corresponding to the fingers based on the set target positions;
- and
- performing an impedance control while moving the fingers along the created grasp paths,
- wherein the target positions comprise a first target position where all the first fingers are stretched out, a second target position where the first fingers come into contact with the second finger, and a third target position where the first fingers come into contact with the palm, and
- wherein the impedance control controls stiffness between target positions and actual positions of each finger tip.
A method of controlling a robot hand, the method comprising:
- setting a plurality of target positions to which tips of fingers performing a grasp operation are to move;
- creating grasp paths corresponding to the tips of the fingers using the set target positions;
- and
- performing an impedance control while moving the tips of the fingers along the created grasp paths,
- wherein the plurality of target positions comprise a first target position where the fingers are stretched out, a second target position where the tips of the fingers come into contact with one another, and a third target position where the tips of the fingers come into contact with a palm of the robot hand, and
- wherein the impedance control controls stiffness between target positions and actual positions of each finger tip.
A robot hand comprising:
- a palm;
- a plurality of fingers connected to the palm to perform a grasp operation;
- and
- a control unit to set a plurality of target positions to which a tip of each finger is to move, create grasp paths based on the set target positions, and perform an impedance control while moving the tips of the fingers along the created grasp paths,
- wherein the plurality of target positions comprise a first target position where the fingers are stretched out, a second target position where the fingers come into contact with one another, and a third target position where the fingers come into contact with the palm, and
- wherein the impedance control controls stiffness between target positions and actual positions of each finger tip.
Dependencies are inferred from the claim text.