Robot, control method therefor and control program therefor

Details Robot, control method therefor and control program therefor Robot, control method therefor and control program therefor

2007-11-30

2011-10-18

Trammell, James (Department: 3667)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C901S002000, C901S003000, C901S009000, C901S036000, C901S039000, C294S086400, C294S907000, C294S106000, C294S111000, C294S902000, C318S568120, C318S568160, C318S568210, C382S153000, C057S279000

Reexamination Certificate

active

08041457

ABSTRACT:
A robot configured to check whether an object is properly grasped by a hand determines whether the position and posture of a handle (object), determined based on an image obtained by a camera (external information), and the position and posture of the handle in the case where the handle is assumed to be properly grasped, determined from the posture of a robot based on an output or the like of a rotary encoder (internal information), agree with each other. In response to the determination of whether the external information and the internal information agree with each other, it is determined whether the handle is properly grasped based on a force detected by a six-axis force sensor provided on each hand.

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