Hand control system, method, program, hand, and robot

Abstract

According to the hand control system (2), the position and posture of a palm (10) are controlled such that the object reference point (Pw) and the hand reference point (Ph) come close to each other and such that the i-th object reference vector (αwi) and the i-th hand reference vector (αhi) come close to each other. During the controlling process of the position and posture of the palm, the operation of a specified finger mechanism is controlled such that the bending posture of the specified finger mechanism gradually changes (for example, such that the degree of bending gradually increases). This ensures accurate grasping of an object of an arbitrary shape.

Description

BACKGROUND OF THE INVENTION[0001]1. Field of the Invention[0002]The present invention relates to a system that controls a grasping operation of an object by a hand provided extensionally from a base and having a plurality of finger mechanisms capable of bending and stretching, a control method for the same, a program that causes a computer to function as the control system, a hand as an object to be controlled, and a robot having the control system and the hand.[0003]2. Description of the Related Art[0004]There has been proposed a robot hand for grasping an object of an arbitrary shape in consideration of a variety of shapes of objects (works) to be grasped and others (see, for example, Japanese Patent Laid-Open No. 2005-007486). According to this hand, the joint angles of a plurality of finger mechanisms are controlled such that arbitrary points at the tip ends of the finger mechanisms and the normal lines substantially coincide with a plurality of target contact points set on an o...

AI Technical Summary

Benefits of technology

[0006]In view of the foregoing, an object of the present invention is to provide a system that controls a hand such that it can accurately grasp an object of an arbitrary shape, while simplifying the structures of the finger mechanisms, the control method, a program that causes a computer to function as the control system, a hand to be controlled, and a robot provided with the control system and the hand.

Problems solved by technology

In the case where actuators are provided respectively for a plurality of joints of the finger mechanisms, however, the number of electric wires and control signal lines connected to the actuators become large.

In order to secure a space for wiring in a casing of the finger mechanism, the size of the casing inevitably increases, and the plurality of finger mechanisms may interfere with each other, hindering free movement thereof.

On the other hand, simplifying the structures of the finger mechanisms leads to simple motions thereof, making it difficult to grasp an object of an arbitrary shape with the hand.

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