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EP-4737073-A1 - PROCESSING DEVICE, ROBOT SYSTEM, END EFFECTOR, AND PROGRAM

EP4737073A1EP 4737073 A1EP4737073 A1EP 4737073A1EP-4737073-A1

Abstract

A processing device includes a controller that detects, based on a force detection signal output from a sensor device, an external force acting on an end effector. The controller includes an obtainer. The obtainer obtains the external force acting on the end effector based on a plurality of first components of a gravitational force of the end effector acting on the end effector in a first orientation being an orientation of the end effector at reference setting for the sensor device, a plurality of second components of the gravitational force of the end effector acting on the end effector in a second orientation being an orientation of the end effector receiving the external force, and the force detection signal output in response to the external force acting on the end effector.

Inventors

  • ANAN, NAOHIRO
  • YAMAGISHI, YUKI
  • ONO, KAZUKI

Assignees

  • Kyocera Corporation

Dates

Publication Date
20260506
Application Date
20240627

Claims (13)

  1. A processing device, comprising: a controller configured to detect, based on a force detection signal output from a sensor device, an external force acting on an end effector, the controller including an obtainer configured to obtain the external force acting on the end effector based on a plurality of first components of a gravitational force of the end effector acting on the end effector in a first orientation, the first orientation being an orientation of the end effector at reference setting for the sensor device, a plurality of second components of the gravitational force of the end effector acting on the end effector in a second orientation, the second orientation being an orientation of the end effector receiving the external force, and the force detection signal output in response to the external force acting on the end effector.
  2. The processing device according to claim 1, wherein the obtainer is configured to obtain the external force acting on the end effector in each of a plurality of the second orientations different from each other.
  3. The processing device according to claim 1 or claim 2, wherein the obtainer is configured to calculate a magnitude of the external force.
  4. The processing device according to any one of claims 1 to 3, wherein the end effector is a holder configured to hold a target.
  5. The processing device according to claim 4, wherein the obtainer is configured to obtain a weight of the target based on the external force obtained while the holder is holding the target.
  6. The processing device according to claim 5, wherein the obtainer is configured to obtain the weight of the target held by the holder in each of a plurality of holding orientations different from each other.
  7. The processing device according to any one of claims 4 to 6, further comprising: a holding controller configured to control holding of the target performed by the holder.
  8. The processing device according to claim 7, wherein in response to an instruction provided to the processing device to cause the holder to hold the target, the reference setting is performed before the holding controller causes the holder to hold the target.
  9. The processing device according to claim 7 or claim 8, wherein the holding controller is configured to control, based on the external force obtained by the obtainer, a holding force of the holder holding the target.
  10. The processing device according to claim 9, wherein during a period from when the target is held by the holder to when the target is lifted, the obtainer is configured to obtain the external force acting on the holder a plurality of times, and the holding controller is configured to control the holding force based on the external force obtained by the obtainer.
  11. A robotic system, comprising: the processing device according to any one of claims 1 to 10; and a robot including the end effector controllable based on the external force obtained by the processing device.
  12. An end effector controllable based on the external force obtained by the processing device according to any one of claims 1 to 10.
  13. A program for causing a computer to function as the processing device according to any one of claims 1 to 10.

Description

TECHNICAL FIELD The present disclosure relates to a technique that uses a sensor device. BACKGROUND OF INVENTION Patent Literature 1 describes a technique for a robot. CITATION LIST PATENT LITERATURE Patent Literature 1: Japanese Unexamined Patent Application Publication No. 7-205075 SUMMARY One or more aspects of the present disclosure are directed to a processing device, a robotic system, an end effector, and a program. In one embodiment, a processing device includes a controller that detects, based on a force detection signal output from a sensor device, an external force acting on an end effector. The controller includes an obtainer. The obtainer obtains the external force acting on the end effector based on a plurality of first components of a gravitational force of the end effector acting on the end effector in a first orientation being an orientation of the end effector at reference setting for the sensor device, a plurality of second components of the gravitational force of the end effector acting on the end effector in a second orientation being an orientation of the end effector receiving the external force, and the force detection signal output in response to the external force acting on the end effector. In one embodiment, a robotic system includes the above processing device and a robot. The robot includes the end effector controllable based on the external force obtained by the processing device. In one embodiment, an end effector is an end effector controllable based on the external force obtained by the above processing device. In one embodiment, a program is a program for causing a computer to function as the above processing device. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a processing device in an example.FIG. 2 is a schematic diagram of a robotic system in an example.FIG. 3 is a block diagram of the processing device in an example.FIG. 4 is a flowchart of an example operation performed by the processing device.FIG. 5 is a flowchart of an example operation performed by a control system.FIG. 6 is a graph showing an example operation performed by the processing device.FIG. 7 is a block diagram of the processing device in an example.FIG. 8 is a schematic diagram illustrating example holding orientations of an end effector (holder). DESCRIPTION OF EMBODIMENTS FIG. 1 is a block diagram of a processing device 1 in an example. The processing device 1 receives, for example, a force detection signal 21 output from a sensor device 20 that detects a force acting on an end effector 12 having a changeable orientation. The sensor device 20 is fixed to the end effector 12. The orientation of the force sensor 20 changes with the orientation of the end effector 12. The sensor device 20 can detect a force externally acting on the end effector 12. More specifically, the sensor device 20 can detect a gravitational force and an external force acting on the end effector 12. In other words, the sensor device 20 can detect the gravitational force acting on the end effector 12 and the external force acting on the end effector 12 other than the gravitational force. The sensor device 20 outputs the force detection signal 21 indicating a detection result. The processing device 1 can obtain (in other words, estimate or calculate) the external force acting on the end effector 12 other than the gravitational force by eliminating, from the force detection signal 21, an effect of the gravitational force acting on the end effector 12 included in the force detection signal 21. A force acting on an object hereafter refers to a force including the gravitational force and an external force acting on the object. An external force acting on an object refers to an external force acting on the object other than the gravitational force. An external force acting on an object is, in other words, a force externally acting on the object other than the gravitational force. The end effector 12 may be, for example, a holder that can hold an object (also referred to as a holding target object). In this case, the sensor device 20 can detect a force acting on the holder. The end effector 12 may be other than the holder. For example, the end effector 12 may be a machining component at a distal end of a machine tool. The end effector 12 may be, for example, a component for tightening screws, painting, welding, or cutting. The object may be, for example, an industrial product such as an electronic device or a screw, a food product such as a vegetable or bread, or a thing for everyday life such as a diaper, a toothbrush, or a cup. In the example described below, the processing device 1 is used for the end effector 12 that is an end effector of a robot 10. FIG. 2 is a schematic diagram of a robotic system 100 including the processing device 1 and the robot 10 in an example. As illustrated in FIG. 2, the robotic system 100 includes, for example, the robot 10 and a control system 50 that controls the robot 10. The control sys