WO2008123271A1 - ロボットおよび制御方法 - Google Patents
ロボットおよび制御方法 Download PDFInfo
- Publication number
- WO2008123271A1 WO2008123271A1 PCT/JP2008/055635 JP2008055635W WO2008123271A1 WO 2008123271 A1 WO2008123271 A1 WO 2008123271A1 JP 2008055635 W JP2008055635 W JP 2008055635W WO 2008123271 A1 WO2008123271 A1 WO 2008123271A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- drive
- robot
- drive units
- base
- link mechanisms
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49826—Assembling or joining
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20317—Robotic arm including electric motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Abstract
小型軽量物の細かい把持と重量物の安定な把持を共に実現可能で、駆動部に無理な負荷を加えることがなく、さらに直接教示や原点復帰動作が容易な、汎用性の高いロボットを提供する。 基部(1)と、前記基部(1)上に配置される少なくとも2つのリンク機構(4)と、前記リンク機構(4)を屈曲伸展可能な駆動部(3)と、前記駆動部(3)を制御する制御部(10)とを備えたロボットにおいて、少なくとも1つの駆動部(3)は、他の駆動部(3)よりも大きい駆動力を有し、他の駆動部(3)は、自らの駆動力よりも大きい外力に対して他動的に変位するものである。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/562,081 US7950710B2 (en) | 2007-04-03 | 2009-09-17 | Robot |
US13/089,320 US8549952B2 (en) | 2007-04-03 | 2011-04-19 | Robot and method for controlling the robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007097255A JP5105147B2 (ja) | 2006-08-28 | 2007-04-03 | ロボットおよび制御方法 |
JP2007-097255 | 2007-04-03 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/562,081 Continuation US7950710B2 (en) | 2007-04-03 | 2009-09-17 | Robot |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2008123271A1 true WO2008123271A1 (ja) | 2008-10-16 |
Family
ID=39652192
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2008/055635 WO2008123271A1 (ja) | 2007-04-03 | 2008-03-26 | ロボットおよび制御方法 |
Country Status (4)
Country | Link |
---|---|
US (2) | US7950710B2 (ja) |
JP (1) | JP5105147B2 (ja) |
TW (1) | TWI432299B (ja) |
WO (1) | WO2008123271A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2343162A1 (en) * | 2010-01-07 | 2011-07-13 | Samsung Electronics Co., Ltd. | Robot hand and robot having the same |
WO2018117229A1 (ja) * | 2016-12-22 | 2018-06-28 | 川崎重工業株式会社 | 搬送システム及びその運転方法 |
WO2021054016A1 (ja) * | 2019-09-19 | 2021-03-25 | アダマンド並木精密宝石株式会社 | ロボットハンド |
Families Citing this family (58)
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US8060250B2 (en) * | 2008-12-15 | 2011-11-15 | GM Global Technology Operations LLC | Joint-space impedance control for tendon-driven manipulators |
US8052185B2 (en) * | 2009-04-09 | 2011-11-08 | Disney Enterprises, Inc. | Robot hand with humanoid fingers |
US8562049B2 (en) * | 2009-09-22 | 2013-10-22 | GM Global Technology Operations LLC | Robotic finger assembly |
US8498741B2 (en) * | 2009-09-22 | 2013-07-30 | Gm Global Technology Operations | Dexterous humanoid robotic wrist |
US8467903B2 (en) | 2009-09-22 | 2013-06-18 | GM Global Technology Operations LLC | Tendon driven finger actuation system |
JP5682810B2 (ja) | 2010-09-15 | 2015-03-11 | セイコーエプソン株式会社 | ロボット |
JP5895337B2 (ja) | 2010-09-15 | 2016-03-30 | セイコーエプソン株式会社 | ロボット |
JP2012066351A (ja) * | 2010-09-24 | 2012-04-05 | Yaskawa Electric Corp | ロボット用ハンドユニットおよびロボット |
US8747486B2 (en) | 2010-09-24 | 2014-06-10 | Gifu University | Humanoid electric hand |
US8489239B2 (en) * | 2010-11-01 | 2013-07-16 | GM Global Technology Operations LLC | Robust operation of tendon-driven robot fingers using force and position-based control laws |
US9815193B2 (en) | 2011-06-27 | 2017-11-14 | Delaware Capital Formation, Inc. | Electric motor based holding control systems and methods |
KR101896473B1 (ko) * | 2012-01-04 | 2018-10-24 | 삼성전자주식회사 | 로봇 핸드의 제어 방법 |
CH706455A2 (fr) * | 2012-04-30 | 2013-10-31 | Trimos S A | Bras mécanique articulé équipé d'un dispositif passif de compensation de la gravité. |
JP6111589B2 (ja) * | 2012-10-11 | 2017-04-12 | セイコーエプソン株式会社 | ロボットハンド、ロボット装置及びロボットハンドの製造方法 |
US9004559B2 (en) | 2012-11-09 | 2015-04-14 | Irobot Corporation | Compliant underactuated grasper |
US9089977B2 (en) | 2012-11-09 | 2015-07-28 | Irobot Corporation | Compliant underactuated grasper |
US8991885B2 (en) * | 2012-11-09 | 2015-03-31 | Irobot Corporation | Compliant underactuated grasper |
CN103846926B (zh) * | 2012-12-07 | 2016-08-03 | 上银科技股份有限公司 | 弹性机械关节 |
JP2014180298A (ja) * | 2013-03-18 | 2014-09-29 | Seiko Epson Corp | 指アシスト装置 |
JP2014188633A (ja) * | 2013-03-27 | 2014-10-06 | Seiko Epson Corp | エンドエフェクターおよびロボット |
US9650215B2 (en) | 2013-05-17 | 2017-05-16 | Intelligrated Headquarters Llc | Robotic carton unloader |
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CN104191429B (zh) * | 2014-07-28 | 2016-04-27 | 南京航空航天大学 | 一种腱驱动机械手位置和腱张力的混合控制方法及控制装置 |
JP6415291B2 (ja) * | 2014-12-09 | 2018-10-31 | キヤノン株式会社 | 情報処理装置、情報処理方法、プログラム |
JP6514520B2 (ja) * | 2015-02-17 | 2019-05-15 | 本田技研工業株式会社 | ハンド装置、それを備えたロボットアーム及びロボット |
US10718359B2 (en) * | 2015-08-21 | 2020-07-21 | Quality Manufacturing Inc. | Devices and systems for producing rotational actuation |
US9744677B2 (en) | 2015-11-05 | 2017-08-29 | Irobot Corporation | Robotic fingers and end effectors including same |
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JP6514156B2 (ja) * | 2016-08-17 | 2019-05-15 | ファナック株式会社 | ロボット制御装置 |
KR101841035B1 (ko) * | 2016-09-13 | 2018-05-04 | 주식회사 메카티엔에스 | 혼합형 그립 모듈 |
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KR101866253B1 (ko) * | 2016-10-26 | 2018-06-12 | 재단법인대구경북과학기술원 | 손 재활로봇 |
EP3321043A3 (en) * | 2016-11-10 | 2018-10-10 | Canon Kabushiki Kaisha | Method of controlling holding apparatus, holding apparatus, and robot apparatus |
JP6823505B2 (ja) * | 2017-03-09 | 2021-02-03 | 本田技研工業株式会社 | 関節構造体、ハンド装置、ロボットアーム及びロボット |
WO2018212189A1 (ja) * | 2017-05-15 | 2018-11-22 | Thk株式会社 | 把持システム |
JP7155479B2 (ja) * | 2017-05-15 | 2022-10-19 | Thk株式会社 | ハンド機構、把持システム、および把持プログラム |
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JP2019018280A (ja) * | 2017-07-14 | 2019-02-07 | Thk株式会社 | 把持システム |
JP6927852B2 (ja) * | 2017-11-01 | 2021-09-01 | Thk株式会社 | ハンド機構 |
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KR102550237B1 (ko) | 2022-08-25 | 2023-06-30 | 성균관대학교산학협력단 | 터치패드 기반의 손가락 벤딩 센서 장치 및 이를 이용한 로봇 핸드 파지 제스처 제어 방법 |
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- 2008-04-02 TW TW097112030A patent/TWI432299B/zh active
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2009
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2011
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2343162A1 (en) * | 2010-01-07 | 2011-07-13 | Samsung Electronics Co., Ltd. | Robot hand and robot having the same |
US8419096B2 (en) | 2010-01-07 | 2013-04-16 | Samsung Electronics Co., Ltd. | Robot hand and robot having the same |
WO2018117229A1 (ja) * | 2016-12-22 | 2018-06-28 | 川崎重工業株式会社 | 搬送システム及びその運転方法 |
JP2018103279A (ja) * | 2016-12-22 | 2018-07-05 | 川崎重工業株式会社 | 搬送システム及びその運転方法 |
WO2021054016A1 (ja) * | 2019-09-19 | 2021-03-25 | アダマンド並木精密宝石株式会社 | ロボットハンド |
Also Published As
Publication number | Publication date |
---|---|
US20100010670A1 (en) | 2010-01-14 |
US8549952B2 (en) | 2013-10-08 |
JP5105147B2 (ja) | 2012-12-19 |
JP2008149444A (ja) | 2008-07-03 |
US20110192247A1 (en) | 2011-08-11 |
TW200902259A (en) | 2009-01-16 |
TWI432299B (zh) | 2014-04-01 |
US7950710B2 (en) | 2011-05-31 |
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