초록 ▼

A robotic end effector and operation protocol provide for a reliable grasp of a target object irrespective of the target\s contours. A robotic hand 30 includes a plurality of jointed fingers 31-34, one of which, like a thumb 31, is in opposed relation to the other. Each finger comprises at least two

A robotic end effector and operation protocol provide for a reliable grasp of a target object irrespective of the target\s contours. A robotic hand 30 includes a plurality of jointed fingers 31-34, one of which, like a thumb 31, is in opposed relation to the other. Each finger comprises at least two jointed sections, and is provided with reflective proximity sensors, one on the inner surface of each finger section. Each proximity sensor comprises a transmitter of a beam of radiant energy and a receiver for receiving reflections of the transmitted energy when reflected by a target object. On the fingers opposed to the thumb, the proximity sensors 41 on the outermost finger sections are aligned in an outer sensor array and the sensors 42 on the intermediate finger sections and sensors 43 on the innermost finger sections are similarly arranged to form an intermediate sensor array and an inner sensor array, respectively. The invention includes a computer system 55 with software and/or circuitry 56 for a protocol comprising the steps in sequence of (1) approach axis alignment to maximize the number of outer layer sensors which detect the target; (2) non-contact contour following of the target by the robot fingers to minimize target escape potential; and (3) closing to ridigize the target including dynamically re-adjusting the end effector finger alignment to compensate for target motion. A signal conditioning circuit 52 and gain adjustment 57 are included to maintain the dynamic range of low power reflection signals.

대표청구항 ▼

A system for positioning a dexterous robotic end effector to minimize target escape potential during grasping, said system comprising: a robotic end effector in the form of a robotic hand having a plurality of jointed fingers with at least one of said fingers mounted in opposed relation to the other

A system for positioning a dexterous robotic end effector to minimize target escape potential during grasping, said system comprising: a robotic end effector in the form of a robotic hand having a plurality of jointed fingers with at least one of said fingers mounted in opposed relation to the others, each said finger comprised of joined segments; a plurality of reflective proximity sensors for transmitting a plurality of radiant energy beams and for detecting reflected echoes of said energy beams, said proximity sensors arranged such that one of said sensors is mounted on the inner surface of each finger segment and the proximity sensors on the outermost finger segments of the fingers opposed to said one finger are aligned in linear array to form an outer layer of proximity sensors and the proximity sensors on the finger segments next adjacent to the outermost segments are aligned in linear array to form an inner layer of proximity sensors; and control means for guiding said robotic hand in proximity to a target to be grasped thereby and responsive to reflections of the energy beams when intercepted and reflected by a target object for generating electrical signals representing range to target from each proximity sensor detecting a reflection of its energy beam from said target and in response to said signals aligning the approach axis of said robotic hand to the target to maximize the number of outer layer sensors which detect the target, said control means including means for guiding the fingers of the robotic hand to follow the contours of the target in non-contact relation therewith in a trapping movement to minimize target escape potential and following said trapping movement, actuating the robot fingers to close and rigidize the target.