JP2009034744A5 - - Google Patents
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- JP2009034744A5 JP2009034744A5 JP2007199224A JP2007199224A JP2009034744A5 JP 2009034744 A5 JP2009034744 A5 JP 2009034744A5 JP 2007199224 A JP2007199224 A JP 2007199224A JP 2007199224 A JP2007199224 A JP 2007199224A JP 2009034744 A5 JP2009034744 A5 JP 2009034744A5
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- JP
- Japan
- Prior art keywords
- slip
- movement
- sensor
- detected
- operation unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000001514 detection method Methods 0.000 claims 15
- 238000000034 method Methods 0.000 claims 4
- 230000001133 acceleration Effects 0.000 claims 2
- 239000003190 viscoelastic substance Substances 0.000 claims 1
Claims (8)
前記センサにより検出された検出値に基づいて、前記対象物と動作部の間の滑りを検出する滑り検出手段と、
前記検出手段により一定量の滑りが検出されるように、前記動作部の動きを制御手段と
を備える制御装置。 In the control device for controlling the movement of the operation unit provided with the sensor for detecting the force received from the object,
A slip detection means for detecting a slip between the object and the operation unit based on a detection value detected by the sensor;
A control device comprising: control means for controlling the movement of the operation unit so that a certain amount of slip is detected by the detection means.
前記センサは、複数のエレメントで構成される圧力センサであり、
前記センサにより検出された圧力値を用いて、圧力中心位置を演算する圧力中心演算手段と、
前記圧力中心演算手段により演算された前記圧力中心位置の時間変化を用いて、前記圧力中心位置の移動値を演算する圧力中心移動演算手段と、
前記圧力中心移動演算手段により演算された前記圧力中心位置の移動値に基づいて、滑りを検出する検出手段と
を備える請求項１の制御装置。 The slip detection means includes
The sensor is a pressure sensor composed of a plurality of elements,
Pressure center calculation means for calculating a pressure center position using the pressure value detected by the sensor;
Pressure center movement calculation means for calculating a movement value of the pressure center position using a time change of the pressure center position calculated by the pressure center calculation means;
The control device according to claim 1, further comprising: a detecting unit that detects slip based on a movement value of the pressure center position calculated by the pressure center movement calculating unit.
請求項２に記載の検出装置。 The detection device according to claim 2, wherein the sensor has a viscoelastic body formed of a viscoelastic material on a surface thereof.
前記制御手段は、一定の滑り覚検出値、滑り速度または加速度が検出されるように、前記動作部の動きを制御する
請求項３に記載の制御装置。 The slip detected by the slip detection means is a slip detection value, a slip speed or acceleration obtained from the slip detection value,
The control device according to claim 3, wherein the control unit controls the movement of the operation unit such that a constant slip detection value, a slip speed, or an acceleration is detected.
請求項１に記載の制御装置。 Wherein, a certain amount of so slippage is detected, the position of the operation portion, the control device according to claim 1 that controls the force with respect to the object of the operation portion.
請求項１に記載の制御装置。 The control device according to claim 1, wherein the control unit controls the operation unit so that no slip is detected.
前記センサにより検出された検出値に基づいて、前記対象物と動作部の間の滑りを検出する滑り検出ステップと、
前記検出ステップにより一定量の滑りが検出されるように、前記動作部の動きを制御ステップと
を含む制御方法。 In a control method for controlling the movement of an operation unit provided with a sensor for detecting a force received from an object,
A slip detection step for detecting slippage between the object and the motion unit based on a detection value detected by the sensor;
A control method including a step of controlling the movement of the operation unit such that a certain amount of slip is detected by the detection step.
前記センサにより検出された検出値に基づいて、前記対象物と動作部の間の滑りを検出する滑り検出ステップと、
前記検出ステップにより一定量の滑りが検出されるように、前記動作部の動きを制御ステップと
を含む制御処理をコンピュータに実行させるプログラム。 In a program for causing a computer to execute a control process for controlling the movement of an operation unit provided with a sensor for detecting a force received from an object,
A slip detection step for detecting slippage between the object and the motion unit based on a detection value detected by the sensor;
A program that causes a computer to execute a control process including a step of controlling the movement of the operation unit so that a certain amount of slip is detected by the detection step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007199224A JP2009034744A (en) | 2007-07-31 | 2007-07-31 | Control apparatus and method, and program |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007199224A JP2009034744A (en) | 2007-07-31 | 2007-07-31 | Control apparatus and method, and program |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2009034744A JP2009034744A (en) | 2009-02-19 |
| JP2009034744A5 true JP2009034744A5 (en) | 2010-09-02 |
Family
ID=40437151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2007199224A Pending JP2009034744A (en) | 2007-07-31 | 2007-07-31 | Control apparatus and method, and program |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2009034744A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10856726B2 (en) | 2015-03-25 | 2020-12-08 | Sony Corporation | Medical support arm apparatus |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5257896B2 (en) | 2009-05-22 | 2013-08-07 | 国立大学法人電気通信大学 | Slip detection device and method |
| WO2011030641A1 (en) * | 2009-09-08 | 2011-03-17 | コニカミノルタホールディングス株式会社 | Orthotic for human body |
| JP5877859B2 (en) | 2014-03-12 | 2016-03-08 | ファナック株式会社 | Robot system for taking out workpieces stacked in bulk and determination method for determining gripping state of workpieces |
| JP2023111673A (en) * | 2022-01-31 | 2023-08-10 | ミネベアミツミ株式会社 | Gripping device, gripping system, and gripping device slip detection method |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4605354A (en) * | 1984-07-30 | 1986-08-12 | International Business Machines Corporation | Slip sensitive robot gripper system |
| JPS61284388A (en) * | 1985-06-10 | 1986-12-15 | 三菱電機株式会社 | Slip detection device |
| JPH01310882A (en) * | 1988-06-08 | 1989-12-14 | Hitachi Ltd | Holding device |
| JPH04189484A (en) * | 1990-11-22 | 1992-07-07 | Toyota Motor Corp | Grasping control method of robot hand |
| JP2793493B2 (en) * | 1993-12-28 | 1998-09-03 | 本田技研工業株式会社 | Robot hand grip control method |
| JPH08323678A (en) * | 1995-05-25 | 1996-12-10 | Sanyo Electric Co Ltd | Soft object grip device |
| JP3742876B2 (en) * | 2002-02-25 | 2006-02-08 | 国立大学法人岐阜大学 | Robot hand, gripping control method of robot hand, robot and robot control method |
| JP2005144573A (en) * | 2003-11-12 | 2005-06-09 | Toyota Motor Corp | Control method for gripping force of robot hand |
| JP2006136983A (en) * | 2004-11-12 | 2006-06-01 | Sharp Corp | Detection method of distributed tactile sensor for robot hand and robot hand |
| JP4333628B2 (en) * | 2005-04-20 | 2009-09-16 | トヨタ自動車株式会社 | Slip detection device for finger surface of robot hand |
-
2007
- 2007-07-31 JP JP2007199224A patent/JP2009034744A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10856726B2 (en) | 2015-03-25 | 2020-12-08 | Sony Corporation | Medical support arm apparatus |
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