Work grip position recognizing method of mechanical hand of robot

Abstract

Abstract PURPOSE:To exactly control a robot, by stopping an arm at the time point when a work moved by moving the arm of a mechanical hand has been made to abut to a reference point, and recognizing a grip position of the mechanical hand in the work by relation of a position of the reference point and the mechanical hand. CONSTITUTION:A microswitch 6 is installed to a base part 7 of a robot body, and a position where the switch 6 is turned on when its operating piece 6a has been pushed is set at a reference point P. A position of the operating piece 6a in this point P, in operating space coordinate systems (x), (y) and (z) of the robot is already known, and when the switch 6 is turned on, movement of an arm 4 of the robot is stopped. The robot grips a work W by a mechanical hand 5, and after that, moves the hand 5 so that a surface S of the work W abuts to the operating piece 6a. When the surface S abuts to the operating piece 6a and the switch 6 is turned on, movement of the hand 5 is stopped.

Inventors

• 👤 Haruo Koyanagi
• 👤 小柳　晴生
• 👤 Hiroshi Kuriyama
• 👤 栗山　洋

Bibliographic Details