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Robot, robot system, and control method

A technology of a robot system and a control method, which is applied in the field of robots and can solve problems such as recognition deviations

Inactive Publication Date: 2016-02-10
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As a result, the hand may not be able to grasp the object in the desired posture, and the posture of the grasped object may deviate from the recognition of the robot system.

Method used

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  • Robot, robot system, and control method
  • Robot, robot system, and control method
  • Robot, robot system, and control method

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0029] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0030] figure 1 It is a figure which shows the outline structure of the robot system 1 concerning this embodiment.

[0031] The robot system 1 includes a robot 20 and a control device 30. The robot 20 includes two grasping parts (hand HND1 and hand HND2) having a finger and a placement part.

[0032] In the robot system 1, the robot 20 moves the hand HND1 or the hand HND2 in the direction of gravity after grasping the object until the contact surface between the finger and the object becomes a position higher than the placing part. Then, the robot 20 releases the object by grasping, and grasps it again. Hereinafter, these series of processing may be referred to as "re-holding processing". By this re-gripping process, the robot 20 re-grips the object held by its hand HND1 or the hand HND2 in a desired posture, so that the holding posture of the object can be corrected. In ad...

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PUM

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Abstract

The invention relates to a robot, a robot system and a control method. The robot includes a hand including a plurality of finger sections and a placing section and a control unit configured to control the hand. The plurality of finger sections respectively include contact surfaces that come into contact with an object. After causing the plurality of finger sections to grip the object, the control unit moves the hand until the contact surfaces of the plurality of finger sections come to a position higher than the placing section in the gravity direction, causes the plurality of finger sections to release the gripping of the object, and causes the plurality of finger sections to grip the object again.

Description

Technical field [0001] The invention relates to a robot, a robot system, a control device and a control method. Background technique [0002] In recent years, various structures have been proposed as hands for robots. As a hand for a robot, for example, the following hand is proposed. The hand is provided with four finger holders provided with finger members, a drive mechanism that moves the finger holders in the first direction or the second direction, and a drive shaft connected to the drive mechanism. Peripheral seats, multiple guide shafts inserted into the sliding holes of the peripheral seat and slidable, the seat is located at the four corners of the quadrilateral viewed from the third direction, and the perimeter seats and the guide shafts are located along the four sides of the quadrilateral , The center of the driving mechanism is located in the center of the quadrilateral, the two sides of the side are parallel to the first direction, and the other two sides of the si...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J13/08
CPCB25J15/0253B25J15/10B25J9/1612Y10S901/31
Inventor 清泽勇贵
Owner SEIKO EPSON CORP