Gripping system
An object of the present invention is to provide a technique for a gripping system having an arm mechanism and a hand mechanism attached to the arm mechanism, by which an operation of the arm mechanism can be stopped as soon as the hand mechanism contacts an object. In the gripping system according to the present invention, the hand mechanism is provided with a contact detection unit for detecting that a predetermined site of the hand mechanism has come into contact with the object. The hand mechanism is also provided with a signal transmission unit that is electrically connected to an arm control device. The signal transmission unit transmits a command signal to stop the operation of the arm mechanism directly to the arm control device at the point where the contact detection unit detects that the predetermined site of the hand mechanism has come into contact with the object.
1. A gripping system comprising:
an arm mechanism;
a hand mechanism that is attached to the arm mechanism and grips an object using a plurality of finger portions;
an arm controller configured to control the arm mechanism;
a hand controller configured to control the hand mechanism;
a sensor provided in the hand mechanism and configured to detect that a predetermined site of the hand mechanism has come into contact with the object; and
a signal transmitter that is provided in the hand mechanism and electrically connected to the arm controller, wherein the signal transmitter transmits a command signal to stop an operation of the arm mechanism directly to the arm controller at the point where the sensor detects that the predetermined site of the hand mechanism has come into contact with the object, wherein
the hand mechanism includes a base portion connected to the arm mechanism, the plurality of finger portions are provided on the base portion, and the signal transmitter is built into the base portion.
2. The gripping system according to claim 1 ,
wherein the hand controller acquires position information indicating the position of the object and corrects the position information of the object, acquired by the hand controller,
the arm controller controls the arm mechanism so that the predetermined site on the hand mechanism moves toward a target position on the object, the target position being determined on the basis of the position information of the object, acquired by the hand controller,
the arm controller stops the operation of the arm mechanism when the command signal is transmitted to the arm controller from the signal transmitter after the sensor detects that the predetermined site of the hand mechanism has come into contact with the object, and
the hand controller corrects the position information of the object, acquired by the hand controller, on the basis of contact position information relating to a contact position at the point where the sensor detects that the predetermined site of the hand mechanism has come into contact with the object.
3. The gripping system according to claim 2 , wherein the arm controller and the hand controller control the arm mechanism and the hand mechanism on the basis of the position information of the object which has been corrected by the hand controller, so that the object is gripped by the hand mechanism.
4. The gripping system according to claim 1 , wherein the predetermined site is a site on a tip end side of a joint portion of a predetermined finger portion among the plurality of finger portions.