Robot apparatus and gripping method for use in robot apparatus

• US 8,498,745 B2
• Filed: 07/04/2011
• Issued: 07/30/2013
• Est. Priority Date: 07/05/2010
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: Umetsu, Mayumi
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): RINK, RYAN J
• Application Number:
  US13/175,933
• Publication Number:
  US 20120004774A1
• Time in Patent Office: 757 Days
• Field of Search: None
• US Class Current: 700/254
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 15/0009 comprising multi-articulated fingers, e.g. resembling a human hand
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/39484 Locate, reach and grasp, visual guided grasping
• CPC Class Codes: G05B 2219/39492 Finger impedance control
• CPC Class Codes: G05B 2219/39532 Gripping force sensor build into finger

Abstract

A robot apparatus includes a robot arm, a multi-fingered hand disposed at an end of the robot arm and including a force sensor for use in force control, an image processor that acquires at least location information on a gripping target by detection made by a visual sensor, and a control device that moves the robot arm on the basis of the at least location information on the gripping target acquired by the image processor to cause the multi-fingered hand to approach the gripping target, detects a contact location of actual contact with the gripping target on the basis of an output of the force sensor of the multi-fingered hand, and modifies the location information on the gripping target on the basis of information indicating the detected contact location.

Claims

1. A robot apparatus comprising:

a robot arm;

a multi-fingered hand disposed at an end of the robot arm and including at least one fingertip force sensor for use in force control;

an information acquiring unit that acquires at least location information on a target by an input from a user or by detection made by a detection unit; and

a controller that moves the robot arm to cause the multi-fingered hand to approach the target on the basis of the at least location information on the target acquired by the information acquiring unit, detects a contact location at which actual contact is made between the at least one fingertip force sensor and the target on the basis of an output of the at least one fingertip force sensor of the multi-fingered hand, and modifies the location information on the target on the basis of information indicating the contact location,

wherein when a difference between a location indicated by the location information on the target acquired by the information acquiring unit and the contact location is larger than a specific threshold, the controller modifies the location information on the target on the basis of the information indicating the contact location.

2. The robot apparatus according to claim 1, wherein the controller modifies a gripping position of the multi-fingered hand on the basis of the modified location information and performs control for gripping the target with the multi-fingered hand, wherein the gripping position is a location and attitude at which the multi-fingered hand is positioned to grip the target.

3. The robot apparatus according to claim 1, wherein the information acquiring unit acquires attitude information on the target, in addition to the location information on the target, by the input from the user or by the detection made by the detection unit, and

the controller moves the robot arm on the basis of the location information and the attitude information on the target acquired by the information acquiring unit to cause the multi- fingered hand to approach the target, detects the contact location on the basis of the output of the at least one fingertip force sensor of the multi-fingered hand, and modifies the location information and the attitude information on the target on the basis of the information indicating the detected contact location.

4. The robot apparatus according to claim 1, wherein whether the location information is to be modified is selectable by the user, and

when the user selects that the location information is to be modified, the controller detects the contact location on the basis of the output of the at least one fingertip force sensor and modifies the location information on the target on the basis of the information indicating the contact location.

5. The robot apparatus according to claim 1, wherein the at least one fingertip force sensor comprises a plurality of fingertip force sensors disposed at fingertips of the multi-fingered hand, and

the controller detects the contact locations on the basis of the output of the plurality of fingertip force sensors and modifies the location information on the target on the basis of the information indicating the contact locations.

6. The robot apparatus according to claim 1, wherein the information acquiring unit acquires the location information and shape information on the target by the input from the user or the detection made by the detection unit, and

the controller compares the shape information on the target acquired by the information acquiring unit against information in a database in which information on the target is stored in advance to acquire dimensional information on the target, moves the robot arm on the basis of the dimensional information and the location information on the target to cause the multi-fingered hand to approach the target, and detects the contact location on the basis of the output of the at least one fingertip force sensor of the multi-fingered hand.

7. The robot apparatus according to claim 1, wherein in a state where the multi-fingered hand is in contact with the target with a force that does not change the location of the target under the force control using the at least one fingertip force sensor of the multi-fingered hand based on the at least location information on the target, the controller detects the contact location on the basis of the output of the at least one fingertip force sensor of the multi-fingered hand and modifies the location information on the target on the basis of the information indicating the contact location.

8. The robot apparatus according to claim 1, further comprising a vehicle for moving the robot arm having an end on which the multi-fingered hand is disposed toward the target,

wherein the vehicle and the robot arm are moved to cause the multi-fingered hand to approach the target on the basis of the at least location information on the target acquired by the information acquiring unit, detects the contact location on the basis of the output of the at least one fingertip force sensor of the multi-fingered hand, and modifies the location information on the target on the basis of the information indicating the contact location.

9. A gripping method for use in a robot apparatus including a robot arm having an end on which a multi-fingered hand including a fingertip force sensor is disposed, the gripping method comprising the steps of:

acquiring at least location information on a target;

moving the robot arm on the basis of the at least acquired location information on the target to cause the multi-fingered hand at the end of the robot arm to approach the target and detecting a contact location at which actual contact is made between the at least one fingertip force sensor and the target on the basis of an output of the fingertip force sensor of the multi-fingered hand; and

modifying, using a controller, the location information on the target on the basis of information indicating the contact location,

wherein when a difference between a location indicated by the location information on the target acquired by the information acquiring unit and the contact location is larger than a specific threshold, the controller modifies the location information on the target on the basis of the information indicating the contact location.

10. The gripping method according to claim 9, further comprising:

moving a vehicle for moving the robot arm having an end on which the multi-fingered hand is disposed from a first position to a second position adjacent to the target,

wherein when a distance of movement of the vehicle from the first position to the second position is larger than a threshold amount, the controller modifies the location information on the target on the basis of the information indicating the contact location.

11. A robot apparatus comprising:

a robot arm;

a multi-fingered hand disposed at an end of the robot arm and including at least one fingertip force sensor for use in force control;

an information acquiring unit that acquires at least location information on a target by an input from a user or by detection made by a detection unit;

a controller that moves the robot arm to cause the multi-fingered hand to approach the target on the basis of the at least location information on the target acquired by the information acquiring unit, detects a contact location at which actual contact is made between the at least one fingertip force sensor and the target on the basis of an output of the at least one fingertip force sensor of the multi-fingered hand, and modifies the location information on the target on the basis of information indicating the contact location; and

a vehicle for moving the robot arm having an end on which the multi-fingered hand is disposed from a first position to a second position adjacent to the target,

wherein when a distance of movement of the vehicle from the first position to the second position is larger than a threshold amount, the controller modifies the location information on the target on the basis of the information indicating the contact location.