Patent ID: 7443115
Filing Date: 2008-10-28
Classification: B25J

Abstract:
1. A method for controlling robot handling comprising: a) determining a direction of an external force acting upon an object, the external force exclusive of a grasp force by a robot grasping the object; b) determining, when a change in the external force in said direction is equal to or greater than a predetermined threshold, if the change in the external force in said direction is i) caused by a person taking away the object and due to a first condition which is a delivery of the grasped object or ii) caused by a force resulting from an other cause and due to a second condition which is a non-delivery of the grasped object; and c) outputting a grasp-force relaxing signal for releasing the grasped object when the change in the external force in said direction is due to the first condition and a grasp-force strengthening signal for strengthening the grasp force on the grasped object when the change in the external force in said direction is due to the second condition.