ROBOT HAND WITH TIP VISUAL SENSE

摘要

PROBLEM TO BE SOLVED: To provide a hand capable of autonomously correcting position of a work grip and gripping a work without receiving control of a robot controller.;SOLUTION: A work imaging means 201 is provided on the hand 103 and an image of a gripped work is picked up. A work position and shape detecting means 202 calculates data of a position and shape of the work from picked up image data of the work. A gripping position data generating means 203 generates gripping position data by the hand 103 from the calculated data of the position and shape. A hand gripping position control means 204 controls movement of fingers 206 to a position of gripping the work on the basis of the gripping position data. Each means is provided in the hand 103, and the hand 103 autonomously grips the work at an optimum gripping position.;COPYRIGHT: (C)2003,JPO