Workpiece contact state estimating device and workpiece contact state estimation method
US10213925B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Sep 9, 2016 |
| Grant date | Feb 26, 2019 |
| Priority date | — |
| Expiry date | Apr 26, 2037 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/46
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present invention provides a workpiece contact state estimating device and a workpiece contact state estimation method to estimate an actual state of contact of a workpiece A with a peripheral object on the basis of a feasible contact acting force range, which is a feasible range of the value of a contact acting force (the force acting on a manipulator 1 generated by contact) prepared in advance for each of a plurality of types of contact states that are feasible as the states of contact of the workpiece A with the peripheral object, and a measurement value of the contact acting force at the time of contact of the workpiece A with the peripheral object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.