Robot hand, handling system, robot hand control device, method for controlling robot hand, and storage medium
According to one embodiment, a robot hand grips an object. The robot hand includes first and second communicators, and a hand controller. The first communicator communicates grip data with a first device. The grip data is related to a gripping operation. The second communicator communicates a start notification and an end notification with a second device. The second communicator can communicate faster than the first communicator. The start notification is for starting the gripping operation. The end notification indicates an end of the gripping operation. The hand controller controls the gripping operation. In response to the start notification input to the second communicator, the hand controller starts the gripping operation. In response to the end of the gripping operation, the hand controller performs outputting the end notification, and outputting at least one of a result of the gripping operation or a state of the robot hand.
1 . A handling system, comprising:
a robot hand configured to grip an object;
a robot arm; and
a processing device,
wherein the robot hand includes
a first communicator including a communication interface and configured to communicate grip data with the processing device, the grip data being related to a gripping operation,
a second communicator including a communication interface and configured to communicate a start notification and an end notification with the robot arm, the start notification being for starting the gripping operation, the end notification indicating an end of the gripping operation, and
a hand controller configured to control the gripping operation,
wherein the first communicator, the second communicator, and the hand controller are integrated in the robot hand,
an amount of communicable data per unit time between the second communicator and the robot arm is less than an amount of communicable data per unit time between the first communicator and the processing device,
in response to the start notification input to the second communicator, the hand controller is further configured to start the gripping operation based on the grip data input to the first communicator, and
in response to the end of the gripping operation, the hand controller is further configured to
output the end notification from the second communicator to the robot arm, and
output from the first communicator to the processing device at least one of a result of the gripping operation or a state of the robot hand.
2 . The handling system according to claim 1 , further comprising:
a pinching mechanism configured to pinch the object,
the grip data including a grip width and a grip force when the object is gripped by the pinching mechanism.
3 . The handling system according to claim 2 , wherein
when the grip width and the grip force are realized by the pinching mechanism, the hand controller
determines that the gripping operation has ended, and
performs the output of the end notification and the output of the at least one of the result of the gripping operation or the state of the robot hand.
4 . The handling system according to claim 1 , further comprising:
a suction mechanism configured to suction-grip the object,
the grip data including a pressure when the object is gripped by the suction mechanism.
5 . The handling system according to claim 4 , wherein
when the pressure is realized by the suction mechanism, the hand controller
determines that the gripping operation has ended, and
performs the output of the end notification and the output of the at least one of the result of the gripping operation or the state of the robot hand.
6 . The handling system according to claim 1 , wherein
the first communicator is configured to communicate with the processing device via at least one selected from serial communication, Serial Peripheral Interface, Inter-Integrated Circuit, Universal Serial Bus, Ethernet, and Bluetooth, and
the second communicator is configured to communicate with the robot arm via at least one selected from (i) digital input/output signaling configured for direct transmission of binary high/low state signals without packet-based serial protocols, and (ii) parallel communication in which multiple bits are transmitted simultaneously across multiple signal lines, including bus connections selected from Advanced Technology Attachment (ATA) and Peripheral Component Interconnect (PCI).
7 . The handling system according to claim 1 , wherein
the robot arm includes:
a third communicator including a communication interface and configured to communicate a control instruction with the processing device, the control instruction including position control data;
a fourth communicator including a communication interface and configured to communicate the start notification and the end notification with the second communicator; and
an arm controller configured to perform a position control based on the position control data.
8 . The handling system according to claim 7 , wherein
the control instruction further includes force control data, and
the arm controller is configured to perform a force control based on the force control data after the position control.
9 . The handling system according to claim 8 , further comprising a force sensor provided between the robot hand and the robot arm and configured to detect a force acting on the robot hand,
wherein when a detected value of the force sensor reaches a target force included in the force control data, the arm controller outputs the start notification from the fourth communicator to the second communicator.
10 . The handling system according to claim 7 , wherein
a stop signal is communicated between the second communicator and the fourth communicator to instruct an operation stop of the robot hand or the robot arm.
11 . The handling system according to claim 7 , wherein
the third communicator is configured to communicate with the processing device via at least one selected from serial communication, Serial Peripheral Interface, Inter-Integrated Circuit, Universal Serial Bus, Ethernet, and Bluetooth, and
the second communicator and the fourth communicator are configured to communicate with each other via at least one selected from digital input/output and parallel communication.
12 . The handling system according to claim 6 , wherein
the robot arm moves in response to a reception of the end notification.
13 . The handling system according to claim 7 , wherein
the third communicator, the fourth communicator, and the arm controller are integrated in the robot arm.
14 . The handling system according to claim 1 , further comprising:
a pinching mechanism configured to pinch the object,
the grip data including a grip width and a grip force when the object is gripped by the pinching mechanism,
when the grip width and the grip force are realized by the pinching mechanism, the hand controller
determines that the gripping operation has ended, and
performs the output of the end notification and the output of the at least one of the result of the gripping operation or the state of the robot hand.
15 . The handling system according to claim 1 , further comprising:
a suction mechanism configured to suction-grip the object,
the grip data including a pressure when the object is gripped by the suction mechanism,
when the pressure is realized by the suction mechanism, the hand controller
determines that the gripping operation has ended, and
performs the output of the end notification and the output of the at least one of the result of the gripping operation or the state of the robot hand.
16 . The handling system according to claim 14 , further comprising a force sensor provided between the robot hand and the robot arm and configured to detect a force acting on the robot hand,
wherein when a detected value of the force sensor reaches a target force included in the force control data, the arm controller outputs the start notification from the fourth communicator to the second communicator, and
a stop signal is communicated between the second communicator and the fourth communicator to instruct an operation stop of the robot hand or the robot arm.
17 . A method for controlling a robot hand that grips an object, the method comprising:
inputting grip data from a processing device to the robot hand via a first communicator, the grip data being related to a gripping operation;
inputting a start notification from a robot arm to the robot hand via a second communicator, the start notification being for starting the gripping operation, an amount of communicable data per unit time between the second communicator and the robot arm being less than an amount of communicable data per unit time between the first communicator and the processing device;
starting the gripping operation based on the grip data in response to the start notification; and
in response to an end of the gripping operation, outputting
an end notification to the robot arm via the second communicator, the end notification indicating the end of the gripping operation, and
at least one of a result of the gripping operation or a state of the robot hand to the processing device via the first communicator,
wherein the first communicator, the second communicator, and the hand controller are integrated in the robot hand.
18 . The method according to claim 17 , wherein
the grip data includes a grip width and a grip force when the object is gripped by a pinching mechanism, and
when the grip width and the grip force are realized by the pinching mechanism, the gripping operation is determined to have ended, the output of the end notification is performed, and the output of the at least one of the result of the gripping operation or the state of the robot hand is performed.
19 . The method according to claim 17 , wherein
the grip data includes a pressure when the object is gripped by a suction mechanism, and
when the pressure is realized by the suction mechanism, the gripping operation is determined to have ended, the output of the end notification is performed, and the output of the at least one of the result of the gripping operation or the state of the robot hand is performed.
20 . A non-transitory computer-readable storage medium storing a program,
the program causing a control device to perform the method according to claim 17 .
21 . The handling system according to claim 7 , wherein
an amount of communicable data per unit time between the second communicator and the fourth communicator is less than an amount of communicable data per unit time between the third communicator and the processing device.