首页>
外国专利>
METHOD AND A DEVICE TO CALCULATE A GRIPPING FORCE OF GRIPPERS, CAPABLE OF CALCULATING AN OPTIMAL GRIPPING FORCE OF THE GRIPPER EVEN WITHOUT PHYSICAL PROPERTY INFORMATION
METHOD AND A DEVICE TO CALCULATE A GRIPPING FORCE OF GRIPPERS, CAPABLE OF CALCULATING AN OPTIMAL GRIPPING FORCE OF THE GRIPPER EVEN WITHOUT PHYSICAL PROPERTY INFORMATION
展开▼
机译:计算抓取器的抓取力的方法和装置,即使没有物理属性信息,也可以计算抓取器的最佳抓取力
展开▼
页面导航
摘要
著录项
相似文献
摘要
PURPOSE: A method and a device to calculate a gripping force of grippers are provided to improve work efficiency by rapidly calculating a gripping force range of the gripper even if a new object is changed.;CONSTITUTION: A method to calculate a gripping force of grippers comprises the steps of: estimating Young modulus of objects using geometric information of the object obtained from vision images and a deformation amount of the object measured in a state where the gripper grips the objects with a predetermined initial gripping force (S110); estimating a density of the object using first and second vertical movement forces (S120); estimating a slip frictional coefficient at a moment when the object starts to separate from the gripper while the gripping force is reduced in a state where the object is gripped with the initial gripping force (S130); and calculating a gripping force range of the gripper using the Young modulus, the density, and the slip frictional coefficient (S140). The first and second vertical movement forces are required to vertically move the gripper in half of a height of the object from a gripping point of the object.;COPYRIGHT KIPO 2013;[Reference numerals] (AA) Start; (BB) End; (S110) Step of estimating Young modulus of objects using geometric information of the object obtained from vision images and a deformation amount of the object measured in a state where the gripper grips the objects with a predetermined initial gripping force; (S120) Step of estimating a density of the object using a first vertical movement force required to vertically move a gripper in a gripping point of the object and a second vertical movement force required to vertically move the gripper while the objects are gripped; (S130) Step of estimating a slip frictional coefficient at a moment when the object starts to separate from the gripper while the gripping force is reduced in a state where the object is gripped with the initial gripping force; (S140) Step of calculating a gripping force range of the gripper using the Young modulus, the density, and the slip frictional coefficient
展开▼