Kabushiki Kaisha Yaskawa Denki

Mayumi Umetsu

Yasuhiro Miyamoto

Masafumi Tamai

A robot apparatus includes a robot arm, a multi-fingered hand disposed at an end of the robot arm and including a force sensor for use in force control, an image processor that acquires at least location information on a gripping target by detection made by a visual sensor, and a control device that moves the robot arm on the basis of the at least location information on the gripping target acquired by the image processor to cause the multi-fingered hand to approach the gripping target, detects a contact location of actual contact with the gripping target on the basis of an output of the force sensor of the multi-fingered hand, and modifies the location information on the gripping target on the basis of information indicating the detected contact location.

Robot apparatus and gripping method for use in robot apparatus

A reduction gears-integrated actuator provided with harmonic reduction gears a motor and a rotation position detector wherein a rotor comprises a cup-shaped rotary yolk a permanent magnet is fixed to the outer periphery of the rotary yolk a circular spline is formed in a silk-hat shape, a flange portion is fixed to one end of an actuator frame and a cylinder portion is disposed opposite to the inner periphery of the rotary yolk via a space, and a cup-shaped housing coupled with an output shaft is disposed between the output shaft and a rotating shaft and on the inner peripheral side of a flexible spline and a preloading elastic member is provided between a rotary shaft -supporting bearing and the housing, hence the axial-direction length of the actuator can be reduced, and a driving torque can be increased without compromise in reductions in size and weight, thereby providing a low-cost reduction gears-integrated actuator.

Growing community of inventors

Fukuoka, Japan

Mayumi Umetsu