Title:
MOTOR HAND WITH FORCE SENSOR AND METHOD FOR CONTROL THEREOF
Document Type and Number:
Japanese Patent JP2018079542
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To make it possible to suitably grip an object in a short time even if there is no information concerning a shape, a weight and a contact resistance of a surface of an object to be gripped.SOLUTION: A hardness of an object can be determined by providing a force sensor to a gripping part which grips the object, a force sensor value detected by the force sensor, an encoder value which can be detected by a travel quantity of a drive part moved by a position control part, and an additional torque value which can be detected from a force applied onto the drive part by a force control part are recorded by performing a clamping operation, and whether the object is gripped when moving a motor hand is confirmed by an external sensor such as a photo-electric switch or the like. If the object is not gripped, fastening of a constant quantity is performed again, the motor hand is moved, and whether the object is gripped is confirmed. This process is repeated until the object can be suitably gripped, thereby setting an optimal gripping force.SELECTED DRAWING: Figure 4
Inventors:
KABETANI YOSHIHISA
Application Number:
JP2016223623A
Publication Date:
May 24, 2018
Filing Date:
November 16, 2016
Export Citation:
Assignee:
KONDO MACHINE WORKS
International Classes:
B25J15/08
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