Control system for grasping force of a manipulator for grasping objects

• US 4,621,331 A
• Filed: 12/28/1983
• Issued: 11/04/1986
• Est. Priority Date: 12/28/1982
• Status: Expired due to Term

• Current Assignee: Tokyo Shibaura Denki Kabushiki Kaisha
• Original Assignee: Tokyo Shibaura Denki Kabushiki Kaisha
• Inventors: Iwata, Kazuhide
• Primary Examiner(s): Smith, Jerry
• Assistant Examiner(s): Grossman, Jon D.
• Application Number:
  US06/566,396
• Time in Patent Office: 1,042 Days
• Field of Search: 364/513, 364/167, 364/169, 364/170, 364/478, 414/5, 414/6, 414/730, 901/31, 901/33, 901/38, 901/3, 901/4, 901/5, 901/9, 901/10, 901/46, 901/50
• US Class Current: 700/260
• CPC Class Codes: B25J 13/083 fitted with slippage detectors
• CPC Class Codes: Y10S 294/907 Sensor controlled device

Abstract

A manipulator having a grasping mechanism for grasping an object and an arm mechanism for lifting the grasped object, is disclosed. A weight detector is provided which detects a force that the top of the arm mechanism receives in the gravitational direction when the grasped object is being lifted. In order to find the minimum grasping force sufficient to lift the object, a grasp detector is provided for detecting, from the output of the weight detector, that the object cannot be lifted up with the present grasping force and a desired grasping force selector for selecting successively a desired value of grasping force starting from a predetermined minimum desired value until it is detected that the object is lifted. A grasping force control circuit controls the grasping force to the selected desired value.

Claims

1. A manipulator comprising:

a grasping mechanism for grasping an object with a controllable grasping force;

an arm mechanism coupled to said grasping mechanism and arranged to be capable of being raised to lift said object grasped by said grasping mechanism;

grasping force control means coupled to said grasping mechanism for controlling a grasping force applied to said grasping mechanism to grasp said object;

weight detecting means coupled to said arm mechanism for detecting a force on said arm mechanism;

grasping detecting means responsive to said weight detecting means for detecting whether or not the grasped object has been lifted up by a present force being applied to said grasping mechanism; and

grasping force selecting means coupled to said grasping force control means and responsive to said grasp force being applied to said grasping mechanism by said grasping force control means from a predetermined minimum force level until said grasp detecting means detects that the object has been lifted;

said grasp detecting means being arranged to detect a peak generated in an output signal of said weight detecting means due to a slippage which occurs a between the object and said grasping mechanism; and

said grasping force selecting means including counter means for counting peaks generated in the output signal of said weight detecting means; and

memory means for storing, in different memory locations of said memory means which are designated by count values of said counter means, data representing levels of grasping forces to be applied to said grasping mechanism which stepwise increase from the predetermined minimum force level, said memory means being coupled to said counter means, so that grasping force data corresponding to a count value of said counter means is read out of said memory means and applied to said grasping force control means to apply to said grasping mechanism a grasping force corresponding to the count value in said counter means.

2. The manipulator according to claim 1, wherein said grasp detecting means include a delay circuit for delaying an output signal of said weight detecting means and comparator for comparing the level of an output signal of said delay circuit with the level of the output signal of said weight detecting means in order to produce an output signal representing the slippage occuring between the grasped object and said grasping mechanism.

3. A manipulator comprising:

a grasping mechanism for grasping an object with a controllable grasping force;

an arm mechanism coupled to said grasping mechanism and arranged to be capable of being raised to lift said object grasped by said grasping mechanism;

grasping force control means coupled to said grasping mechanism for controlling a grasping force applied to said grasping mecansim to grasp the object;

weight detecting means coupled to said arm mechanism for detecting a force on said arm mechanism;

grasping detecting means responsive to said weight detecting means for detecting whether or not the grasped object has been lifted up by a present force being applied to said grasping mechanism; and

grasping force selecting means coupled to said grasping force control means and responsive to said grasp detecting means for stepwise increasing therefore a grasping force being applied to said grasping mechanism by said grasping force control means from a predetermined minimum force level until said grasp detecting means detects that the object has been lifted;

said grasping force selecting means including;

counter means for counting peaks generated in an output signal of said weight detecting means which occur due to slippage between the object and said grasping mechanism; and

memory means for storing, in different memory locations of said memory means which are designated by count values of said counter means, data representing levels of grasping forces to be applied to said grasping mechanism which stepwise increase from the predetermined minimum force level, said memory means being coupled to said counter means, so that grasping force data corresponding to a count value of said counter means is read out of said memory means and applied to said grasping force control means to apply to said grasping mechanism a grasping force corresponding to the count value in said counter means; and

said grasp detecting means including;

peak detecting means for detecting the peaks generated in the output signal of said weight detecting means;

hold means coupled to said weight detecting means and said peak detecting means and responsive to detection of a first peak in the output signal of said weight detecting means for holding a first peak value in the output signal of said weight detecting means;

multiplying means coupled to said peak hold means and counter means for multiplying the first peak value held in said peak holds means by a value corresponding to a count value in said counter means; and

comparing means coupled to said multiplying means and said weight detecting means for comparing the level of the output signal of said weight detecting means with the level of an output signal of said multiplying means, wherein the output signals of said comparing means and said peak detecting means are adapted to increment said counter means in said grasping force selecting means.

4. The manipulator according to claim 3, wherein said value corresponding to a count value in said counter means is the count value plus one.

5. A manipulator comprising:

a grasping mechanism for grasping an object with a controllable grasping force, the frictional force between said grasping mechanism and said object varying from static frictional force to dynamic frictional force when a slippage occurs between said grasping mechanism and said object;

an arm mechanism coupled to said grasping mechanism and arranged to be capable of being raised to lift said object grasped by said grasping mechanism;

grasping force control means coupled to said grasping mechanism for controlling a grasping force applied to said grasping mechanism to grasp the object;

weight detecting means coupled to said arm mechanism for detecting a force applied to said arm mechanism when the grasped object is being lifted, the force applied to said arm mechanism instantaneously varying in response to the variation of the frictional force between said grasping mechanism and said object from the statical frictional force to the dynamic frictional force;

grasping detecting means coupled to said weight detecting means for detecting whether or not the grasped object has been lifted by a present force being applied to said grasping mechanism, said grasping detecting means being arranged to detect that said object has not been lifted, in response to the detection of the instantaneous variation of the frictional force between said grasping mechanism and said object by said weight detecting means; and

grasping force selecting means coupled to said grasping force control means and responsive to said grasp detecting means for stepwise increasing a grasping force being applied to said grasping mechanism by said grasping force control means from a predetermined minimum force level until said grasp detecting means detects that the object has been lifted.

6. The manipulator according to claim 5, wherein

said weight detecting means comprises a strain gauge attached into said arm mechanism.