公开(公告)号：US10744654B2

公开(公告)日：2020-08-18

申请号：US16020705

申请日：2018-06-27

Applicant: FANUC CORPORATION

Inventor： Weijia Li ,  Wenjie Chen ,  Hiroshi Nakagawa ,  Takafumi Kajiyama

IPC: B25J15/10 ,  G05B13/04 ,  B25J9/16 ,  B25J15/00

Abstract: A gripper control device includes a controller, the controller is configured to conduct: a grasp quality evaluation process to obtain a grasp quality contribution degree for each of a plurality of contact positions at which fingers that support the object are in contact with the object; a finger-to-be-moved determination process configured to determine, as a finger-to-be-moved, the finger corresponding to one of the contact positions at which the grasp quality contribution degree is low; and a finger movement control process configured to send a control command to a finger driving apparatus, wherein the grasp quality contribution degree for each of the multiple contact positions is defined using at least one of the following elements: relative positions of the plurality of contact positions related to the object; and friction coefficients between the object and the fingers at the plurality of contact positions.