首页>
外国专利>
ROBOT, GRIPPING FORCE CONTROL DEVICE, GRIPPING FORCE CONTROL METHOD, AND GRIPPING FORCE CONTROL PROGRAM
ROBOT, GRIPPING FORCE CONTROL DEVICE, GRIPPING FORCE CONTROL METHOD, AND GRIPPING FORCE CONTROL PROGRAM
展开▼
机译:机器人,扣人心弦的力控制装置,扣人心弦力的控制方法,和扣人心弦的力控制程序
展开▼
页面导航
摘要
著录项
相似文献
摘要
This robot comprises: a finger that grips a workpiece; a motor that drives the finger; a driving current detection unit that detects a driving current of the motor; a gripper including a tactile sensor provided in the finger; a driving force calculation unit that calculates a driving force applied to the workpiece by the finger on the basis of a driving current value of the motor; a pressing force calculation unit that calculates a pressing force that the tactile sensor receives from the workpiece on the basis of a detection value of the tactile sensor; and a control unit that determines which of the driving force and the pressing force is to be used on the basis of a gripping force setting value that is a setting value of the gripping force applied to the workpiece by the finger and controls the gripping force using the value of the driving force or the pressing force which is determined to be used.
展开▼