Robot control apparatus, robot control method, robot system, and storage medium

Patent metadata

Field	Value
Publication number	US-10800033-B2
Application number	US-201715473197-A
Country	US
Kind code	B2
Filing date	Mar 29, 2017
Priority date	Mar 31, 2016
Publication date	Oct 13, 2020
Grant date	Oct 13, 2020

Abstract

A robot control apparatus for controlling a robot manipulating a target object includes a measurement unit configured to measure a change of a gripping unit configured to grip the target object when the gripping unit contacts the target object, a first acquisition unit configured to acquire the change of the gripping unit measured by the measurement unit, a second acquisition unit configured to acquire a gripping state, which is a state of gripping of the target object by the gripping unit, based on the change of the gripping unit acquired by the first acquisition unit, and a control unit configured to control an action of the robot based on the gripping state acquired by the second acquisition unit.

First claim

What is claimed is:

1. A robot control apparatus for controlling a robot manipulating a target object, the robot control apparatus comprising:
a camera configured to measure a change of a gripping unit configured to grip the target object when the gripping unit contacts the target object, wherein the gripping unit is an end effector including a plurality of finger-like members configured to be able to move passively conforming to a shape of the target object when contacting the target object;
a force sensor configured to measure at least one of force and torque applied to the end effector;
one or more processors; and
at least one memory storing executable instructions, which when executed by the one or more processors, cause the robot control apparatus to:
acquire the change of the gripping unit measured by the camera;
acquire a gripping state, which is a state of gripping of the target object by the gripping unit, based on the change of the gripping unit;
control an action of the robot based on the gripping state acquired; and
acquire a modulus of elasticity of the target object from the change of the gripping unit and a measurement result acquired by the force sensor,
wherein acquiring the gripping state acquires the gripping state of the target object based on the change of the gripping unit and the modulus of elasticity.

2. The robot control apparatus according to claim 1 , wherein the instructions, when executed by the one or more processors, cause the robot control apparatus to:
plan the action of the robot based on the gripping state acquired.

3. The robot control apparatus according to claim 2 , wherein the instructions, when executed by the one or more processors, cause the robot control apparatus to:
acquire external force applied to the target object by the gripping unit,
wherein the acquiring the gripping state of the target object is performed based on the change of the gripping unit acquired and the external force acquired, and
wherein the planning plans the action of the robot based on the gripping state acquired and the external force acquired.

4. The robot control apparatus according to claim 2 ,
wherein the planning plans the action of the robot based on the gripping state acquired and the modulus of elasticity.

5. The robot control apparatus according to claim 4 , wherein the acquiring the modulus of elasticity of the target object acquires the shape and softness of the target object.

6. The robot control apparatus according to claim 2 , wherein the planning plans both actions of a contact operation, in which the gripping unit contacts the target object, and a gripping operation in which the gripping unit grips the target object.

7. The robot control apparatus according to claim 6 , wherein the instructions, when executed by the one or more processors, cause the robot control apparatus to:
determine whether the gripping unit is able to grip the target object based on the gripping state,
wherein the planning plans an action for the gripping operation in a case where the gripping unit is determined not to be able to grip the target object.

8. The robot control apparatus according to claim 1 , wherein the camera is configured to measure the change of the gripping unit based on an image of the gripping unit captured by an imaging unit.

9. The robot control apparatus according to claim 1 , wherein the change of the gripping unit is at least one of a position, speed, and acceleration at which the gripping unit contacts the target object.

10. A robot control apparatus for controlling a robot manipulating a target object, the robot control apparatus comprising:
a camera configured to measure a change of a gripping unit configured to grip the target object when the gripping unit contacts the target object;
one or more processors; and
at least one memory storing executable instructions, which when executed by the one or more processors, cause the robot control apparatus to:
acquire the change of the gripping unit measured by the camera;
acquire a gripping state, which is a state of gripping of the target object by the gripping unit, based on the change of the gripping unit; and
control an action of the robot based on the gripping state acquired,
wherein the gripping unit is an end effector including a plurality of finger-like members configured to be able to move passively conforming to a shape of the target object when contacting the target object,
wherein the robot control apparatus further comprises the end effector, and
wherein the gripping state is acquired based on a difference between a change of a finger-like member arranged on an outer side of the end effector and a change of a finger-like member arranged on an inner side of the end effector.

11. A robot control method for controlling a robot manipulating a target object, the robot control method comprising:
measuring a change of a gripping unit configured to grip the target object when the gripping unit contacts the target object, wherein the gripping unit is an end effector including a plurality of finger-like members configured to be able to move passively conforming to a shape of the target object when contacting the target object;
acquiring the measured change of the gripping unit;
acquiring a gripping state, which is a state of gripping of the target object by the gripping unit, based on the acquired change of the gripping unit;
controlling an action of the robot based on the acquired gripping state; and
acquiring a modulus of elasticity of the target object from the change of the gripping unit and a measurement result acquired by a force sensor configured to measure at least one of force and torque applied to the end effector,
wherein acquiring the gripping state acquires the gripping state of the target object based on the change of the gripping unit and the modulus of elasticity.

12. A robot system comprising:
a robot;
a camera configured to measure a change of a gripping unit configured to grip a target object when the gripping unit contacts the target object, wherein the gripping unit is an end effector including a plurality of finger-like members configured to be able to move passively conforming to a shape of the target object when contacting the target object;
a force sensor configured to measure at least one of force and torque applied to the end effector;
one or more processors; and
at least one memory storing executable instructions, which when executed by the one or more processors, cause the robot control apparatus to:
acquire the change of the gripping unit measured by the camera;
acquire a gripping state, which is a state of gripping of the target object by the gripping unit, based on the change of the gripping unit;
plan an action of the robot based on the gripping state acquired; and
acquire a modulus of elasticity of the target object from the change of the gripping unit and a measurement result acquired by the force sensor,
wherein acquiring the gripping state acquires the gripping state of the target object based on the change of the gripping unit and the modulus of elasticity, and
wherein the robot is configured to manipulate the target object based on the action of the robot planned by the planning.

13. A robot system comprising:
a robot;
a camera configured to measure a change of a gripping unit configured to grip a target object when the gripping unit contacts the target object, wherein the gripping unit is an end effector including a plurality of finger-like members configured to be able to move passively conforming to a shape of the target object when contacting the target object;
a force senso

Assignees

• Canon Kk

Inventors

• Yamada Daisuke
• Kobayashi Kazuhiko
• Suzuki Masahiro
• Sonoda Tetsuri

Classifications

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• B25J15/106

  moving in parallel relationship · CPC title

• B25J9/1612 Primary

  characterised by the hand, wrist, grip control · CPC title

• G05B2219/40053

  Pick 3-D object from pile of objects · CPC title

• Y10S901/30

  End effector · CPC title