Robot Hand Gripping Control via Tactile Shear Force Feedback
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Solution Overview
Problem
Existing robot hand gripping control methods struggle to determine the correct gripping position for unknown or irregularly shaped objects, leading to potential dropping of the target object during conveyance.
Innovation Solution
A gripping control method for a robot hand that includes a tactile sensor to measure shear force distribution, allowing for calculation of moment values, evaluation of slip occurrence, estimation of centroid position, and adjustment of the gripping position to ensure stable object handling without image recognition processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If image recognition process using camera photographing is used to recognize the shape and position of the target object, then the probability of preventing dropping is increased, but the robot hand has to move at a low speed and gripping takes a long time
Solution Approach 1:
The patent replaces the optical image recognition system with a tactile sensing system. The tactile sensor detects shear force distribution on the palm face, and the control unit calculates moment values and centroid positions based on this mechanical force data, enabling rapid gripping position determination without camera processing delays
Solution Approach 2:
The robot hand uses its own tactile sensor to autonomously determine the gripping position by detecting shear force distribution and calculating the moment value and centroid position. This self-service approach eliminates the need for external camera systems and image recognition processes, enabling fast and reliable gripping
2Productivity
If the robot hand moves at high speed for efficient conveyance, then productivity is improved, but it becomes difficult to accurately determine the gripping position for unknown or irregularly shaped objects
Solution Approach 1:
The patent implements a feedback mechanism where the tactile sensor continuously monitors shear force distribution during the gripping process. The control unit calculates moment values from this feedback data and uses it to determine the centroid position, enabling accurate gripping position determination even at high conveyance speeds
Solution Approach 2:
The control unit performs preliminary calculation of the moment value and centroid position based on shear force distribution detected before the robot hand moves at high speed. This preliminary action ensures the gripping position is predetermined accurately, allowing subsequent high-speed conveyance without compromising gripping accuracy
Data Source
AI summary
Technical Problem: To provide a gripping control method of a robot hand, which can easily grip a target object to be gripped stably without using an image recognition process by camera photographing. Solution to Problem: A gripping control method of a robot hand of the present invention includes a gripping step S1, a shear force distribution detection step S2, a moment value calculation step S3, a slip occurrence evaluation step S4, a slip prediction evaluation step S5, a centroid position estimation step S6, a gripping position moving step S7, and a conveyance continuation step S8.