ROBOT DEVICE AND CONTROL METHOD OF ROBOT DEVICE

To provide a robot device that enables a direction of gripping a work-piece to change without re-gripping the work-piece and a control method of the robot device.SOLUTION: A robot device according to one embodiment of the present technique is equipped with a hand part, a sensor part and a control de...

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Bibliographische Detailangaben
Hauptverfasser:	MIYAWAKI MANAMI, KOBAYASHI TAKESHI, GOTO TETSUO, TSUKAMOTO KEI, SAKAKURA YOSHIAKI, HASEGAWA HAYATO
Format:	Patent
Sprache:	eng ; jpn
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
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Beschreibung
Zusammenfassung:	To provide a robot device that enables a direction of gripping a work-piece to change without re-gripping the work-piece and a control method of the robot device.SOLUTION: A robot device according to one embodiment of the present technique is equipped with a hand part, a sensor part and a control device. The hand part includes a plurality of finger portions respectively having gripping surfaces which can grip a work-piece. The sensor part is provided in at least one of the plurality of finger portions, which can detect a pressure distribution in the gripping surface. The control device is configured to detect sliding of the work-piece on the gripping surfaces on the basis of output from the sensor part, and generate a control command to change a relative position of the hand part with respect to the work-piece.SELECTED DRAWING: Figure 10 【課題】ワークを掴み直すことなく把持向きを変更することができるロボット装置およびその制御方法を提供する。【解決手段】本技術の一形態に係るロボット装置は、ハンド部と、センサ部と、制御装置とを具備する。前記ハンド部は、ワークを把持可能な把持面をそれぞれ有する複数の指部を含む。前記センサ部は、前記複数の指部の少なくとも１つに設けられ、前記把持面における圧力分布を検出可能である。前記制御装置は、前記センサ部の出力に基づいて前記把持面における前記ワークの滑りを検出し、前記ワークに対する前記ハンド部の相対位置を変化させる制御指令を生成するように構成される。【選択図】図１０