초록 ▼

An apparatus and method for translating an object held by at least two fingers of a robot hand to a predetermined position relative to a fixed point of the robot hand is disclosed. The apparatus comprises a linear potentiometer for sensing the position of each finger relative to the fixed point on t

An apparatus and method for translating an object held by at least two fingers of a robot hand to a predetermined position relative to a fixed point of the robot hand is disclosed. The apparatus comprises a linear potentiometer for sensing the position of each finger relative to the fixed point on the robot hand. A microcomputer identifies the finger at the greater distance from the predetermined position as the position-controlled finger, and identifies the other finger as the force-controlled finger. Pneumatic cylinders and valves impart movement to each finger. A pneumatic servovalve controls movement of the position-controlled finger according to the position of the position-controlled finger relative to the fixed point of the robot hand. In an alternative embodiment, the movement of the position-controlled finger is controlled according to both the position of the position-controlled finger and the position of the force-controlled finger. A pair of strain gages senses the force between the force-controlled finger and the object. Another pneumatic servovalve controls movement of the force-controlled finger according to the force sensed between the force-controlled finger and the object.

대표청구항 ▼

A method for translating an object held by at least two fingers of a robot hand at a predetermined gripping force to a predetermined position relative to a fixed point of the robot hand, the method comprising: sensing the position of each finger relative to the fixed point of the robot hand; for eac

A method for translating an object held by at least two fingers of a robot hand at a predetermined gripping force to a predetermined position relative to a fixed point of the robot hand, the method comprising: sensing the position of each finger relative to the fixed point of the robot hand; for each finger, determining whether said finger is at the greater distance from the predetermined position; selecting the finger at the greater distance as the finger to be position-controlled and selecting the other finger as the finger to be force-controlled; moving said position-controlled finger toward the predetermined position; controlling movement of said position-controlled finger according to the position of said position-controlled finger relative to the fixed point of the robot hand; sensing the gripping force between said force-controlled finger and the object; controlling movement of said force-controlled finger according to said gripping force sensed between said force-controlled finger and the object; stopping movement of said position-controlled finger when the object reaches the predetermined position relative to the fixed point of the robot hand; and when said position-controlled finger is stopped and the predetermined gripping force is applied to the object, then stopping said force-controlled finger. An apparatus for translating an object held by at least two fingers of a robot hand, to a predetermined position relative to a fixed point of the robot hand, the apparatus comprising: means for sensing the position of each finger relative to the fixed point of the robot hand; finger differentiation means for identifying the finger at the greater distance from the predetermined position as the position-controlled finger and for identifying the other finger as the force-controlled finger; means for moving each finger; means for controlling movement of said position-controlled finger according to the position of said position-controlled finger relative to the fixed point of the robot hand; means for sensing the force between said force-controlled finger and the object; and means for controlling movement of said force-controlled finger according to the force sensed between the force-controlled finger and the object.