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    • 7. 发明申请
    • CONTROL OF ROBOT HAND TO CONTACT AN OBJECT
    • 机器人的控制手机接触对象
    • US20120123589A1
    • 2012-05-17
    • US13275856
    • 2011-10-18
    • Ji Young KimYong Jae KimKyung Shik RohYoung Bo Shim
    • Ji Young KimYong Jae KimKyung Shik RohYoung Bo Shim
    • B25J13/08
    • B25J9/1612B25J13/084G05B2219/39484G05B2219/39532
    • A robot control method and apparatus estimates an error based on information of an object obtained using a motor drive current sensor, a force sensor or a tactile sensor mounted at a robot hand and information of the object obtained using an optical sensor and compensates for the error. The robot control method and apparatus includes measuring information of an object using an optical sensor or calculating information of the object input by a user, moving a robot hand to the object based on the information of the object, controlling the thumb and fingers of the robot hand to contact the object based on the information of the object, determining whether the thumb and fingers have contacted the object through a motor drive current sensor, a force sensor or a tactile sensor, and grasping the object depending upon whether the thumb and the fingers have contacted the object.
    • 机器人控制方法和装置基于使用安装在机器人手上的电动机驱动电流传感器,力传感器或触觉传感器获得的对象的信息和使用光学传感器获得的对象的信息来估计误差,并补偿错误 。 机器人控制方法和装置包括使用光学传感器测量对象的信息或计算用户输入的对象的信息,基于对象的信息将机器人手移动到对象,控制机器人的拇指和手指 根据物体的信息接触物体,确定拇指和手指是否通过马达驱动电流传感器,力传感器或触觉传感器接触物体,并且根据拇指和手指来抓住物体 已经联系对象。