JP2013111728A - Gripping operation setting method, device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide means of recognizing and setting, three dimensionally, a gripping position and a gripping direction of an object to be gripped by a grip part of a robot hand.SOLUTION: On a screen 15a of a display device, a shape 21 of the object and a movement display portion 23 indicating a gripping position and a gripping direction are displayed three dimensionally. According to position changing operation and direction changing operation on an operation device, the position and direction of the movement display portion 23 are changed. Once setting operation is done on the operation device, the current position that the movement display portion 23 indicates in the shape 21 of the object and the current direction to which the movement display part 23 faces three dimensionally are set as a gripping position and a gripping direction, respectively.

Description

  The present invention relates to a gripping operation setting method, apparatus, and program for setting a gripping position and a gripping direction for gripping an object by a robot hand.

  2. Description of the Related Art Conventionally, in order to cause a robot hand to grip an object, a gripping position on the object is set in advance. In this case, based on the set gripping position, the operation of the robot hand is controlled so that the robot hand grips the object at this gripping position.

  The method for setting the gripping position and the gripping direction is described, for example, in Patent Documents 1 to 3 below.

  In Patent Document 1, operation data including a gripping position is set by teaching as follows. A person operates the robot hand using an input device (teaching pendant) that inputs an operation command to the robot hand. Thereby, the object can be gripped by the robot hand. Each position and posture of the robot hand is measured during the operation of the robot hand, and the movement path of the robot hand, the grip position and the grip direction by the robot hand, etc. are operated based on the measured position and posture. Set as data.

  In patent document 2, a normal vector is calculated | required about each surface part of a target object based on the shape data of a target object. Among these normal vectors, two normal vectors whose inner product is equal to or less than a threshold value (for example, −0.9) are specified. Since the surface portions each having the two specified normal vectors are directed to opposite sides, these surface portions are set as the gripping positions. Therefore, for example, a pair of claws of the robot hand can hold the object in contact with the specified surface portion.

  In Patent Document 3, an image of an object is displayed on a display device, a gripping position is designated in the image, the designated gripping position is measured, and the measured value is set as the gripping position.

JP 2006-346792 A JP 2008-272886 A Japanese Patent Laid-Open No. 11-58279

However, in the case of Patent Document 1, it takes time to perform teaching.
In the case of Patent Document 2, an operation for obtaining each normal vector, an inner product operation between the normal vectors, and an operation for specifying normal vectors facing opposite sides are performed. Therefore, the calculation load increases.
In the case of Patent Document 3, when a person designates a gripping position while viewing an image of an object displayed on a screen, the gripping direction is automatically calculated by a computer based on the gripping position. However, it is difficult for a person to visually recognize the gripping direction.

  Therefore, an object of the present invention is to provide a gripping operation setting method, apparatus, and program that can recognize and set a gripping position and a gripping direction three-dimensionally without performing teaching.

In order to achieve the above-described object, according to the present invention, when the object is grasped by the grasping part of the robot hand, the grasping position and the grasping direction are set as the grasping position and the grasping direction, respectively. A gripping operation setting method for setting a gripping direction,
A display device having a two-dimensional screen for three-dimensionally displaying the shape of the object;
On the screen, a computer that three-dimensionally displays a shape of an object and a movement display unit for indicating a gripping position and a gripping direction;
An operation device capable of performing a position change operation and a direction change operation for changing the position and orientation of the movement display unit on the screen and a setting operation for determining a grip position and a grip direction, and
In the screen,
(A) The computer displays the shape of the object and the moving display unit three-dimensionally,
(B) In response to the position change operation and the direction change operation performed on the operation device, the position and orientation of the moving display unit are changed by the computer,
(C) When a setting operation is performed on the operation device, at this time, the position indicated by the movement display unit in the shape of the object and the direction in which the movement display unit is three-dimensionally directed are respectively displayed on the computer. A gripping operation setting method characterized by setting the gripping position and the gripping direction is provided.

According to a preferred embodiment of the present invention, the robot hand is composed of a plurality of links rotatably connected to each other,
The gripping part is attached to the most advanced link among a plurality of links,
In (A) above, the computer displays the state-of-the-art link direction display unit that is oriented in a certain direction with respect to the direction of the moving display unit in a three-dimensional manner
In (B), as the three-dimensional orientation of the moving display unit is changed, the leading edge link direction display unit 3 is directed so as to be directed in the three-dimensional direction with respect to the direction of the moving display unit. The dimensional orientation has also changed,
The three-dimensional fixed direction with respect to the direction of the moving display unit is a fixed direction in which the most advanced link is actually directed to the gripping direction in which the gripping unit grips the target object when the gripping unit grips the target object. Same as direction.

  According to the embodiment of the present invention, the position changing operation is an operation of selecting an outer surface, an edge or a hole in the shape of the target object displayed on the screen, and the selection moves the center of the selected outer surface, edge or hole. As the display unit shows, the position of the moving display unit is changed.

  According to a preferred embodiment of the present invention, the movement display unit is an arrow displayed three-dimensionally on the screen.

  According to another embodiment of the present invention, the movement display unit is a three-dimensional shape of the robot hand and the grip unit.

In order to achieve the above-described object, according to the present invention, when the object is grasped by the grasping part of the robot hand, the grasping position and the grasping direction are set as the grasping position and the grasping direction, respectively. A gripping operation setting device for setting a gripping direction,
A display device having a two-dimensional screen for three-dimensionally displaying the shape of the object;
On the screen, a computer that three-dimensionally displays a shape of an object and a movement display unit for indicating a gripping position and a gripping direction;
An operation device capable of performing a position change operation and a direction change operation for changing the position and orientation of the movement display unit on the screen, and a setting operation for determining a grip position and a grip direction,
On the screen, the computer
(A) Three-dimensionally display the shape of the object and the movement display unit,
(B) The position and orientation of the moving display unit are changed according to the position changing operation and the direction changing operation performed on the operating device,
(C) When a setting operation is performed on the operating device, at this time, the position indicated by the movement display unit in the shape of the target object and the direction in which the movement display unit faces three-dimensionally are respectively grasped. A gripping operation setting device is provided that sets the position and the gripping direction.

Further, in order to achieve the above-described object, according to the present invention, when the object is gripped by the grip portion of the robot hand, the position and direction of the target gripped by the grip portion are defined as the grip position and the grip direction, respectively. A gripping operation setting program for setting a gripping position and a gripping direction,
On the screen of the display device,
(A) a process of three-dimensionally displaying the shape of the object and a movement display unit for indicating the gripping position and the gripping direction;
(B) a process of changing the three-dimensional position and orientation of the moving display unit in accordance with the position changing operation and the direction changing operation performed on the operating device;
(C) When a setting operation is performed on the operating device, at this time, the position indicated by the movement display unit in the shape of the target object and the direction in which the movement display unit faces three-dimensionally are respectively grasped. A gripping operation setting program characterized by causing a computer to execute processing for setting a position and a gripping direction is provided.

According to the above-described present invention, the position change operation and the direction change operation for causing the computer to display the three-dimensional shape of the object and the movement display unit on the screen and to change the position and orientation of the movement display unit are operated. When the device is used, the position and orientation of the moving display unit are changed on the screen in accordance with this operation, and when the setting operation is performed on the operation device, at this time, the three-dimensional object of the object on the screen is displayed. The position indicated by the movement display unit in the shape and the direction in which the movement display unit faces are set as the holding position and the holding direction, respectively.
That is, the person can determine the position and orientation of the moving display unit with respect to the three-dimensional shape of the target object by performing the position change operation and the direction change operation while viewing the screen. Subsequently, the person can set the position and orientation of the determined movement display unit to the gripping position and the gripping direction by using the setting device as an operating device.
Accordingly, the person can recognize the gripping position from the position indicated by the moving display unit displayed three-dimensionally, and can recognize the gripping direction from the direction of the moving display unit displayed three-dimensionally. In this way, a person can recognize and set the gripping position and the gripping direction three-dimensionally.
Therefore, a person can recognize and set the gripping position and the gripping direction three-dimensionally without performing teaching.

A robot hand and its control device are shown. The grip position and grip direction by the grip part of the robot hand are shown. It is a block diagram of the holding | grip movement setting apparatus by embodiment of this invention. The screen of a display apparatus is shown. It is a flowchart which shows the holding | grip movement setting method by embodiment of this invention. FIG. 3 shows a gripping position and a gripping direction by a gripping unit having a configuration different from that in FIG. The other example of the screen in a display apparatus is shown.

  A preferred embodiment of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

  In the gripping operation setting method according to the embodiment of the present invention, when the object 1 is gripped by the grip part 5 of the robot hand 3, the position and direction of the object 1 gripped by the grip part 5 are respectively determined as the grip position and the grip direction. As described above, a gripping position and a gripping direction are set. Note that the gripping direction is determined three-dimensionally in a virtual three-dimensional coordinate system fixed to the object 1.

  FIG. 1 shows a configuration example of the robot hand 3. In FIG. 1, the robot hand 3 includes a plurality of links 7a to 7d that are rotatably connected to each other. The grip part 5 is fixed to the tip of the first link 7a at the forefront among the plurality of 7a to 7d. The first link 7a is connected to the second link 7b via the first joint 9a, and is rotatable with respect to the second link 7b around the rotation axis C1 of the first joint 9a. . The second link 7b is connected to the third link 7c via the second joint 9b and is rotatable with respect to the third link 7c around the rotation axis C2 of the second joint 9b. . The third link 7c is connected to the fourth link 7d via the third joint 9c, and is rotatable with respect to the fourth link 7d around the rotation axis C3 of the third joint 9c. . The fourth link 7d is supported by the installation base 11 so as to be rotatable around a rotation axis C4 that is a central axis of the fourth link 7d.

  With this configuration, the first to fourth links 7a to 7d are rotationally driven around the corresponding rotation axes C1 to C4 by a plurality of drive devices (for example, servo motors) (not shown). The robot hand 3 operates by controlling the rotation drive by the control device 13.

  A gripping position and a gripping direction will be described based on FIG. FIG. 2 is a partially enlarged view of FIG. The gripping position and the gripping direction are expressed as a position and direction in a three-dimensional coordinate system fixed with respect to the object 1. In the example shown in FIG. 2, this three-dimensional coordinate system has an x axis, a y axis, and a z axis that are orthogonal to each other. In the example of FIG. 2, the grip portion 5 is a suction device that sucks and grips the object 1 by sucking the object 1. In the example of FIG. 2, the gripping position is a position where the suction device 5 sucks the object 1, and the gripping direction is a direction where the suction device 5 sucks (sucks) the object 1. Such gripping position and gripping direction are set by the method according to the embodiment of the present invention and stored in the storage unit 13a of the control device 13.

  The control device 13 controls the robot hand 3 based on the grip position and the grip direction. As a result, the robot hand 3 grips the target object 1 in the gripping direction at the gripping position of the target object 1. In the example of FIG. 2, the control device 13 positions the suction device 5 at the gripping position so that the suction device 5 faces the gripping direction, and operates the suction device 5 in this state so that the suction device 5 operates the target. The object 1 is sucked and held. Such control is based on the gripping position and gripping direction stored in the storage unit 13a, the three-dimensional shape of the target object 1 stored in the storage unit 13a, and the position and orientation of the target object 1 to be gripped. Done. The position and orientation of the object 1 to be grasped are recognized using, for example, a laser distance meter. In this case, the laser range finder emits laser light in each measurement direction from the laser emission point to each measured point on the object existing in the measurement range in each measurement direction. Measure the distance. The control device 13 recognizes the shape of the object existing in the measurement range by the laser rangefinder based on the distance measured in each measurement direction. The control device 13 recognizes the position of the target object 1 and the direction of the target object 1 by comparing the shape recognized in this way with the three-dimensional shape of the target object 1 stored in the storage unit 13a.

  FIG. 3 shows a gripping motion setting device 10 used in the gripping motion setting method according to the embodiment of the present invention. The gripping operation setting device 10 includes a display device 15, a computer 17, and an operation device 19.

  The display device 15 has a two-dimensional screen 15a for displaying the shape 21 of the object 1 three-dimensionally.

  As shown in FIG. 4, the computer 17 three-dimensionally displays a shape 21 of the object 1 and a movement display unit 23 for designating a gripping position and a gripping direction in the shape 21 on the screen 15 a of the display device 15. To display automatically. In the present embodiment, the movement display unit 23 is an arrow displayed three-dimensionally on the screen 15a. Note that the movement display unit 23 is displayed in front of the three-dimensional shape 21 of the object 1.

  According to the present embodiment, on the screen 15 a of the display device 15, the computer 17 displays the state-of-the-art link direction display unit 25, which is an index pointing in a fixed direction in three dimensions with respect to the direction of the moving display unit 23, in a three-dimensional manner. To display. In the screen 15 a of the display device 15, the three-dimensional fixed direction with respect to the direction of the moving display unit 23 is relative to the gripping direction in which the gripping unit 5 grips the target object 1 when the gripping unit 5 grips the target object 1. The most advanced link 7a (the axis of the link 7a) is in the same direction as the actual direction. In the robot hand 3, the direction of the most advanced link 7 a with respect to the gripping direction by the gripping unit 5 is constant regardless of the operation of the robot hand 3.

  In the example of FIG. 4, the state-of-the-art link direction display unit 25 is a rod-shaped unit having a central axis that is three-dimensionally oriented in the predetermined direction with respect to the direction of the moving display unit 23. However, in the example of FIG. 4, the state-of-the-art link direction display unit 25 may not be a rod-shaped unit as long as the direction can be recognized by a person. For example, the most advanced link direction display unit 25 may be an arrow.

  The operating device 19 is operated by a person. The operating device 19 may have, for example, a keyboard 19a and a mouse 19b.

  In order to set the gripping position and the gripping direction, the operations performed by the operation device 19 include a position changing operation, a direction changing operation, and a setting operation.

  When the position change operation is performed on the operation device 19, the computer 17 changes the position of the moving display unit 23 on the screen 15 a of the display device 15.

  When the direction change operation is performed on the operation device 19, the computer 17 changes the direction of the moving display unit 23 on the screen 15 a of the display device 15.

  When the setting operation is performed on the operation device 19, the computer 17 at this time indicates the position indicated by the movement display unit 23 in the shape 21 of the object 1 and the direction in which the movement display unit 23 faces three-dimensionally. Are set to the gripping position and the gripping direction, respectively.

  Details are as follows.

  The position change operation and the direction change operation are performed to adjust the position indicated by the movement display unit 23 and the direction in which the movement display unit 23 faces on the screen 15a. When the position change operation and the direction change operation are performed on the operation device 19, the position and the direction of the moving display unit 23 are changed in the three-dimensional coordinate system in the screen 15a. This three-dimensional coordinate system is fixed to the shape 21 of the object 1 in the three-dimensional space displayed on the screen 15a. As shown in FIG. 4, the three-dimensional coordinate system has an x axis, a y axis, and a z axis that are orthogonal to each other. Hereinafter, the x-axis, y-axis, and z-axis mean the x-axis, y-axis, and z-axis of the three-dimensional coordinate system fixed to the shape 21 of the object 1 on the screen 15a, respectively.

  After adjusting the position and orientation of the movement display unit 23 as described above, the position indicated by the movement display unit 23 on the screen 15a can be set as the gripping position by the setting operation, and the direction in which the movement display unit 23 is facing is set. It can be set as the gripping direction. When the gripper 5 is a suction device as described above, the gripping position set in this way in FIG. 4 is a position where the suction device sucks the object 1 and is set in this way. The gripping direction is a direction in which the suction device sucks (sucks) the object 1.

  Even if the position changing operation and the direction changing operation are performed on the operation device 19, the direction and the position of the shape 21 of the object 1 are not changed.

  In the present embodiment, the position change operation and the direction change operation include a position change operation and a direction change operation in step S2 described later, and a position change operation and a direction change operation for fine adjustment in step S5 described later.

  According to the present embodiment, the operations performed by the operation device 19 further include a rotation operation, an enlargement operation, and a reduction operation.

The rotation operation is a rotation operation for rotating the shape 21 of the object 1 displayed on the screen 15a. The rotation axis at this time is an axis that penetrates the shape 21 of the object 1, and its direction can be arbitrarily determined by the operation device 19. Further, the amount by which the shape 21 of the object 1 is rotated in the rotation operation can be arbitrarily determined by the operation device 19.
The enlargement operation is an operation for enlarging the shape 21 of the object 1 displayed on the screen 15a. The enlargement ratio can be arbitrarily determined by the operation device 19.
The reduction operation is an operation for reducing the shape 21 of the object 1 displayed on the screen 15a. The reduction ratio can be arbitrarily determined by the operation device 19.

  FIG. 5 is a flowchart illustrating a gripping motion setting method according to an embodiment of the present invention. This method has steps S1 to S6.

In step S <b> 1, the central processing unit (CPU) 17 a of the computer 17 displays the shape 21 of the object 1 and the moving display unit 23 on the screen 15 a of the display device 15 in a three-dimensional manner. The CPU 17a displays the shape 21 of the object 1 three-dimensionally on the screen 15a based on the three-dimensional shape data of the object 1 stored in the storage unit 17b of the computer 17.
Further, in step S1, the CPU 17a of the computer 17 displays the state-of-the-art link direction display unit 25 that faces a fixed direction with respect to the direction of the moving display unit 23 on the screen 15a in a three-dimensional manner. Preferably, the most advanced link direction display unit 25 is connected to the movement display unit 23 as shown in FIG.

In step S <b> 2, a person changes the position change operation and the direction change operation to the operation device 19 while viewing the screen 15 a of the display device 15. In accordance with the position change operation and the direction change operation performed on the operation device 19 in this way, the CPU 17a of the computer 17 changes the position and three-dimensional orientation of the moving display unit 23 on the screen 15a of the display device 15.
Further, in step S2, with the change of the direction of the movement display unit 23, the state of the state-of-the-art link direction display unit 25 is set so as to face a fixed direction three-dimensionally with respect to the direction of the movement display unit 23. The three-dimensional orientation is also changed by the CPU 17a of the computer 17.
In the present embodiment, when the movement display unit 23 is moved by the position change operation on the screen 15a in step S2, the forefront link direction display unit 25 moves integrally with the movement display unit 23.

Step S2 may be performed as follows.
The position changing operation in step S2 may be an operation in which a person moves the mouse 19b placed on a table or desk surface back and forth and left and right. For example, by moving the mouse 19b back and forth, the movement display unit 23 moves up and down on the screen 15a along the paper surface of FIG. 4 according to the amount and direction of movement of the mouse 19b. By moving the mouse 19b to the left and right, the movement display unit 23 moves to the left and right of the screen 15a along the paper surface of FIG. 4 according to the amount and direction of movement of the mouse 19b. Thereby, the movement display part 23 changes the position shown (pointed) in the shape 21 of the target object 1 on the screen 15a. Note that the position indicated by the movement display unit 23 in the shape 21 of the object 1 on the screen 15a is the position indicated by the movement display unit 23 in the direction perpendicular to the two-dimensional screen 15a (the paper surface of FIG. 4). In FIG. 4, it is a position where the tip Pe is projected onto the shape (surface) 21 of the object 1 displayed three-dimensionally.
The direction changing operation in step S2 may be, for example, an operation of pressing one or more buttons on the keyboard 19a. The direction of the movement display unit 23 is changed in the three-dimensional coordinate system in the screen 15a according to the type and the number of times of the button pressed in this way.

  For example, by the position change operation and the direction change operation in step S2, the position and orientation of the movement display unit 23 drawn with a solid line in FIG. 4 is changed to one of the movement display units 23 drawn with a broken line in FIG. Is changed to the position and orientation.

  In step S3, it is determined whether or not the position and orientation of the movement display unit 23 may be the current position and orientation. A person makes the determination in step S3. If this determination is “No”, the process proceeds to Step S4, and if this determination is “Yes”, the process proceeds to Step S5.

In step S <b> 4, a person performs one or more of a rotation operation, an enlargement operation, and a reduction operation while viewing the screen 15 a of the display device 15.
When the rotation operation is performed, the following processing is performed. In other words, the direction and amount of rotation of the rotating shaft are determined by the operating device 19, and when the rotating operation is performed on the operating device 19, the CPU 17a of the computer 17 displays the screen according to the determined direction and rotating amount of the rotating shaft. The shape 21 of the object 1 displayed on 15a is rotated.
When an enlargement operation or a reduction operation is performed, the following processing is performed. That is, when the enlargement rate or reduction rate is determined by the operation device 19 and the enlargement operation or reduction operation is performed on the operation device 19, the CPU 17a of the computer 17 performs the screen 15a according to the determined enlargement rate or reduction rate. The shape 21 of the object 1 displayed on the screen is enlarged or reduced.

  In step S <b> 5, a person turns one or both of a position change operation and a direction change operation for fine adjustment to the operation device 19 while viewing the screen 15 a of the display device 15. In response to the fine adjustment position change operation performed on the operation device 19, the CPU 17a of the computer 17 finely adjusts the position of the movement display unit 23 on the screen 15a, and the fine adjustment direction change operation performed on the operation device 19 is performed. Accordingly, the CPU 17a of the computer 17 finely adjusts the direction of the moving display unit 23 on the screen 15a. Note that step S5 may be omitted. In this case, if the determination in step S3 is “yes”, step S5 is omitted and the process proceeds to step S6.

  Step S5 may be performed as follows.

  As shown in FIG. 4, the position change operation for fine adjustment is performed by the display units “x +”, “y +”, “z +”, “x−”, “y−”, “z−” on the position fine adjustment panel 27 displayed on the screen 15a. Is used. When the mouse 19b is moved by pressing a specific button on the keyboard 19a, not the movement display unit 23 but another cursor moves on the screen 15a (however, the movement display unit 23 is displayed on the screen 15a). Remain). When this cursor is moved to the display part “x +” on the position fine adjustment panel 27 displayed on the screen 15a and the mouse 19b is clicked once, the movement display part 23 moves by a minute amount in the positive direction of the x-axis. Similarly, when the cursor is moved to the display unit “x−” and the mouse 19b is clicked once, the movement display unit 23 moves by a minute amount in the negative direction of the x axis, and the cursor is moved to the display unit “y +”. In addition, when the mouse 19b is clicked once, the movement display unit 23 is moved by a minute amount in the positive direction of the y-axis, and the cursor is moved to the display unit “y−” and the mouse 19b is clicked once to move. When the display unit 23 moves by a minute amount in the negative direction of the y-axis, the cursor moves to the display unit “z +” and the mouse 19b is clicked once, the movement display unit 23 moves by a minute amount in the positive direction of the z-axis. When the cursor is moved to the display part “z−” and the mouse 19b is clicked once, the movement display part 23 moves by a minute amount in the negative direction of the z axis. In this way, the cursor is placed on the display section to be finely adjusted and clicked once or a plurality of times to finely adjust the position of the movement display section 23.

  As shown in FIG. 4, the direction change operation for fine adjustment is performed on display units “x +”, “y +”, “z +”, “x−”, “y−”, “z−” on the direction fine adjustment panel 29 displayed on the screen 15a. Is used. When the mouse 19b is clicked once with the cursor placed on the display section “x +” on the orientation fine adjustment panel 29 displayed on the screen 15a, the movement cursor 23 passes through the movement display section 23 and rotates around the rotation axis parallel to the x axis. The movement display unit 23 rotates by a minute amount in the positive rotation direction. Here, positive and negative in the rotation direction mean clockwise and counterclockwise directions when viewed from the positive direction side of the x-axis, y-axis, or z-axis parallel to the rotation axis, respectively. Similarly, when the cursor is moved to the display section “x−” and the mouse 19b is clicked once, the movement display section 23 moves in the negative rotation direction around the rotation axis passing through the movement display section 23 and parallel to the x axis. When the mouse 19b is clicked once by setting the cursor to the display unit “y +” and the mouse 19b is clicked once, the movement display unit 23 passes through the movement display unit 23 and rotates around the rotation axis parallel to the y axis. When the mouse 19b is clicked once by moving the cursor to the display unit “y−” and clicking the mouse 19b once around the rotation axis parallel to the y axis, 23 is rotated by a minute amount in the negative rotation direction, the cursor is set to the display unit “z +”, and when the mouse 19b is clicked once, the moving display unit 23 passes through the rotation axis parallel to the z axis, The movement display unit 23 is minute in the positive rotation direction. When the mouse 19b is clicked once with the cursor positioned on the display section “z−”, the movement display section 23 rotates negatively around the rotation axis that passes through the movement display section 23 and is parallel to the z axis. Rotate a small amount in the direction. As described above, the cursor is placed on the display unit to be finely adjusted and clicked once or a plurality of times to finely adjust the direction of the moving display unit 23.

  In step S5, with the fine adjustment of the direction of the movement display unit 23, the three-dimensional direction of the state-of-the-art link direction display unit 25 is set so as to face the fixed direction three-dimensionally with respect to the direction of the movement display unit 23. The direction is finely adjusted. In this embodiment, when the movement display unit 23 is moved by a minute amount by the position change operation in step S5, the forefront link direction display unit 25 is moved by a minute amount integrally with the movement display unit 23.

In step S <b> 6, a person views the screen 15 a of the display device 15 and sets the setting operation to the operation device 19. When the setting operation is performed on the operation device 19 in this way, the CPU 17a of the computer 17 at this time displays the position indicated by the movement display unit 23 in the shape 21 of the object 1 and the movement display unit 23 in a three-dimensional manner. The facing direction is set to the gripping position and the gripping direction, respectively.
At this time, the CPU 17a of the computer 17 projects the indicated position Pe of the moving display unit 23 on the surface of the object 1 displayed three-dimensionally on the screen 15a in a direction perpendicular to the two-dimensional screen 15a. The projected instruction position Pe is represented by the three-dimensional coordinate system in the screen 15a. The designated position Pe represented in this way is set as the gripping position. When the three-dimensional coordinate system in the screen 15a has the x axis, the y axis, and the z axis as described above, the CPU 17a of the computer 17 converts the indicated position Pe projected as described above into the x axis coordinate value. , The y-axis coordinate value, and the z-axis coordinate value are represented as gripping positions.

  The gripping operation setting program according to the embodiment of the present invention causes the CPU 17a of the computer 17 to execute the above-described processes of steps S1, S2, S4, S5, and S6. The gripping operation setting program is stored in the storage unit 17b of the computer 17.

  According to the embodiment of the present invention described above, the following effects can be obtained.

The CPU 17a of the computer 17 displays the shape 21 of the object 1 and the movement display unit 23 three-dimensionally on the screen 15a, and displays the movement on the screen 15a according to the position change operation and the direction change operation of the operation device 19. When the position and orientation of the unit 23 are changed and a setting operation is performed on the operation device 19, at this time, the position indicated by the movement display unit 23 in the shape 21 on the screen 15a and the movement display unit 23 face. The direction is set to the gripping position and the gripping direction, respectively.
That is, a person can adjust the position and orientation of the movement display unit 23 with respect to the shape 21 of the object 1 by performing the position change operation and the direction change operation on the operation device 19 while viewing the screen 15a. it can. Next, the person can set the adjusted position and orientation of the movement display unit 23 to the gripping position and the gripping direction by using the operation device 19 as a setting operation.
Therefore, the person can recognize the gripping position from the position indicated by the movement display unit 23 displayed three-dimensionally, and can recognize the gripping direction from the direction of the movement display unit 23 displayed three-dimensionally. Thus, the person can recognize and set the gripping position and the gripping direction three-dimensionally.

  Further, as the direction of the movement display unit 23 is changed, the three-dimensional direction of the state-of-the-art link direction display unit 25 is also set so as to face the fixed direction three-dimensionally with respect to the direction of the movement display unit 23. Be changed. Therefore, the person can visually confirm the direction of the most advanced link 7a by the most advanced link direction display unit 25 in the screen 15a. Therefore, it is possible to visually grasp the movement of the state-of-the-art link 7a approaching the object 1.

  The present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention. For example, any of the following modification examples 1 to 3 may be employed, or two or three of modification examples 1 to 3 may be employed in combination. In this case, the points not described below may be the same as described above.

(Modification 1)
In the above description, the grip portion 5 is a suction device, but the grip portion 5 may have a pair of claws 5a that open and close. In this case, as shown in FIG. 6, the gripper 5 grips the object 1 with the pair of claws 5a by closing the pair of claws 5a.

  In this case, the gripping position and gripping direction by the nail 5a are set by performing the above-described steps S1 to S6 for the one nail 5a as described above. Thereby, based on the positional relationship and operation direction of the other claw 5a with respect to the one claw 5a, the gripping position and the gripping direction may be automatically set for the other claw 5a. In the example of FIG. 6, the gripping position P2 by the other claw 5a may be a position opposite to the gripping position P1 by the one claw 5a in the three-dimensional shape (surface) 21 of the object 1. That is, in the shape 21, the portion (for example, a surface or an edge) opposite to the portion (for example, the surface or the edge) where the grip position P1 by the one claw 5a is located and the grip position P1 by the one claw 5a pass through the one position. The intersection point of the straight line parallel to the gripping direction D1 by the claw 5a is set to the gripping position P2 by the other claw 5a. In addition, the holding direction D2 by the other nail | claw 5a is a direction opposite to the holding direction D1 by the one nail | claw 5a.

(Modification 2)
When the shape 21 of the target object 1 has an outer surface, an edge, or a hole that is partitioned by an edge, the position change operation in step S2 is performed on the outer surface, the edge, or the hole in the shape 21 of the target object 1 displayed on the screen 15a. The operation to select may be sufficient. By this selection, the position of the movement display unit 23 is automatically changed so that the movement display unit 23 indicates the center of the selected outer surface, edge or hole.

  In the modification example 2, the direction changing operation in step S2 is the same as described above. In this case, it is preferable to perform the direction changing operation after performing the position changing operation in step S2. For example, when the gripping unit 5 is a suction device, when the movement display unit 23 is positioned at the center of the outer surface selected by the position change operation, the movement display unit 23 faces a direction perpendicular to the outer surface. It is preferable to adjust the direction of the movement display unit 23 by the direction changing operation.

The operation of selecting the outer surface, edge or hole in the shape 21 of the object 1 may be performed as follows, for example.
When a specific button on the keyboard 19a is pressed, the cursor moves on the screen 15a instead of the movement display unit 23 by moving the mouse 19b. The cursor 19 is placed on the outer surface, edge or hole in the shape 21 of the object 1 and the mouse 19b is clicked. Thereby, the outer surface, edge or hole to which the cursor is placed is selected. Here, that the cursor is aligned with the outer surface, edge, or hole means that the cursor is in the direction perpendicular to the two-dimensional screen 15a and the shape (surface) 21 of the object 1 displayed three-dimensionally. This means that the outer surface, edge, or hole is present at the position projected onto.
Alternatively, the position indicated by the movement display unit 23 is matched with the outer surface, edge, or hole in the shape 21 of the object 1 and the mouse 19b is clicked. Thereby, the outer surface, edge, or hole indicated by the movement display unit 23 is selected. Here, the position indicated by the movement display unit 23 is aligned with the outer surface, edge, or hole. In the direction perpendicular to the two-dimensional screen 15a, the indicated position (tip) Pe of the movement display unit 23 is 3 This means that the outer surface, edge or hole is present at a position projected onto the shape (surface) 21 of the object 1 displayed in a three-dimensional manner.
When the selected outer surface is a side surface of a cylinder or a cone, the center of this side surface is the center position in the direction of the generatrix of the cylinder or the cone on this side surface. The center position is not limited to one, but may be determined as an arbitrary point.

  Hereinafter, the outer surface, edge, or hole selected in the shape 21 of the object 1 will be described in order.

  Selecting the outer surface in the shape 21 of the object 1 means selecting any one of the plurality of outer surfaces in the shape 21.

An edge is a boundary line between two adjacent outer surfaces in the shape 21. For example, when the line segment having the vertices Pa and Pb shown in FIG. 7 as both ends is selected as the edge 31, the position of the movement display unit 23 is changed so that the movement display unit 23 indicates the center of the line segment. Is done. The selection of the edge 31 as the gripping position is performed, for example, when the gripping unit 5 has a pair of claws 5a as in the first modification described above. At this time, when the center of the edge 31 is set to the gripping position by the one claw 5a and the gripping direction by the one claw 5a is also set, the gripping position and the gripping direction by the other claw 5a are the same as in the first modification. May be set automatically as follows.
The gripping position by the other claw 5a may be a position opposite to the gripping position by the one claw 5a in the three-dimensional shape (surface) 21 of the object 1. That is, in the three-dimensional shape 21, a portion (for example, a surface or an edge) opposite to the grip position by one claw 5a passes through the grip position by one claw 5a and is parallel to the grip direction by one claw 5a. The intersection with the straight line is set to the gripping position by the other claw 5a. In addition, the holding direction by the other nail | claw 5a is a direction opposite to the holding direction by the one nail | claw 5a.

  The hole is a hole 33 formed in the shape 21 as shown in FIG. The center of the hole 33 may be the center position Pc in the opening of the hole 33. When the center Pc of the hole 33 is set to the gripping position, for example, as shown in FIG. 6, the gripping part 5 having a pair of claws 5 a that opens and closes grips the inner surface of the hole 33 as follows. . With the pair of claws 5a inserted into the holes 33, the pair of claws 5a are driven in directions away from each other, and the pair of claws 5a are pressed against the inner surfaces of the holes 33 in opposite directions (opposite directions). . As a result, the object 1 is gripped by the pair of claws 5a.

(Modification 3)
In the above description, the movement display unit 23 is an arrow whose position and orientation can be changed on the screen 15 a, but the movement display unit 23 is attached to the robot hand 3 and the three-dimensional shape of the robot hand 3. It may be a three-dimensional shape of the grip portion 5. In this case, the position indicated by the movement display unit 23 is a position where the object 1 is gripped in the three-dimensional shape of the gripping unit 5, and the direction of the movement display unit 23 is the three-dimensional shape of the gripping unit 5. The direction in which the object 1 is gripped. Such a position and orientation indicated by the movement display unit 23 can be recognized by a person viewing the three-dimensional shapes of the robot hand 3 and the grip unit 5 on the screen 15a.

In this case, on the screen 15a, the robot hand 3 and the grasping unit 5 and the three-dimensional shape 21 of the object 1 overlap with the three-dimensional shape 21 of the object 1 so that the entire shape 21 can be seen. 3 and the three-dimensional shape of the gripping part 5 may be displayed on the screen 15 a through the shape 21.
The three-dimensional shape of the robot hand 3 displayed on the screen 15a includes the three-dimensional shape of the most advanced link 7a. Therefore, the most advanced link direction display unit 25 may be omitted.

  In addition, when the holding part 5 has a pair of claws 5a as in Modification 2, the pair of claws 5a are mutually connected in the three-dimensional shape of the holding part 5 displayed on the screen 15a. The relative position may be as follows. That is, this relative position is the same as the relative position of the pair of claws 5a when the object 1 is actually gripped.

DESCRIPTION OF SYMBOLS 1 Object, 3 Robot hand, 5 Grasp part (suction apparatus), 5a Claw, 7a-7d link, 9a-9c joint, 10 Grasping operation setting apparatus, 11 Installation stand, 13 Control apparatus, 13a Storage part, 15 Display apparatus 15a screen, 17 computer, 17a CPU, 17b storage unit, 19 operation device, 19a keyboard, 19b mouse, 21 object shape, 23 moving display unit, 25 most advanced link direction display unit, 27 position fine adjustment panel, 29 Orientation fine adjustment panel, 31 edges, 33 holes

Claims (7)

A gripping operation setting method for setting a gripping position and a gripping direction with a gripping position and a gripping direction as a gripping position and a gripping direction when gripping an object by a gripping unit of a robot hand,
A display device having a two-dimensional screen for three-dimensionally displaying the shape of the object;
On the screen, a computer that three-dimensionally displays a shape of an object and a movement display unit for indicating a gripping position and a gripping direction;
An operation device capable of performing a position change operation and a direction change operation for changing the position and orientation of the movement display unit on the screen and a setting operation for determining a grip position and a grip direction, and
In the screen,
(A) The computer displays the shape of the object and the moving display unit three-dimensionally,
(B) In response to the position change operation and the direction change operation performed on the operation device, the position and orientation of the moving display unit are changed by the computer,
(C) When a setting operation is performed on the operation device, at this time, the position indicated by the movement display unit in the shape of the object and the direction in which the movement display unit is three-dimensionally directed are respectively displayed on the computer. A gripping operation setting method, characterized in that the gripping position and the gripping direction are set by the above. The robot hand is composed of a plurality of links that are rotatably connected to each other.
The gripping part is attached to the most advanced link among a plurality of links,
In (A) above, the computer displays the state-of-the-art link direction display unit that is oriented in a certain direction with respect to the direction of the moving display unit in a three-dimensional manner
In (B), as the three-dimensional orientation of the moving display unit is changed, the leading edge link direction display unit 3 is directed so as to be directed in the three-dimensional direction with respect to the direction of the moving display unit. The dimensional orientation has also changed,
The three-dimensional fixed direction with respect to the direction of the moving display unit is a fixed direction in which the most advanced link is actually directed to the gripping direction in which the gripping unit grips the target object when the gripping unit grips the target object. The gripping motion setting method according to claim 1, wherein the gripping motion setting method is the same as the direction.   The position change operation is an operation for selecting the outer surface, edge, or hole in the shape of the target object displayed on the screen. By this selection, the moving display unit moves so that the center of the selected outer surface, edge, or hole is indicated. The gripping operation setting method according to claim 1, wherein the position of the display unit is changed.   The gripping movement setting method according to claim 1, wherein the movement display unit is an arrow displayed three-dimensionally on the screen.   The gripping operation setting method according to claim 1 or 3, wherein the movement display unit has a three-dimensional shape of the robot hand and the gripping unit. A gripping operation setting device for setting a gripping position and a gripping direction, with a gripping position and a gripping direction as a gripping position and a gripping direction, respectively, when gripping an object by a gripping unit of a robot hand,
A display device having a two-dimensional screen for three-dimensionally displaying the shape of the object;
On the screen, a computer that three-dimensionally displays a shape of an object and a movement display unit for indicating a gripping position and a gripping direction;
An operation device capable of performing a position change operation and a direction change operation for changing the position and orientation of the movement display unit on the screen, and a setting operation for determining a grip position and a grip direction,
On the screen, the computer
(A) Three-dimensionally display the shape of the object and the movement display unit,
(B) The position and orientation of the moving display unit are changed according to the position changing operation and the direction changing operation performed on the operating device,
(C) When a setting operation is performed on the operating device, at this time, the position indicated by the movement display unit in the shape of the target object and the direction in which the movement display unit faces three-dimensionally are respectively grasped. A gripping operation setting device characterized by setting the position and the gripping direction. A gripping operation setting program for setting a gripping position and a gripping direction with a gripping position and a gripping direction as a gripping position and a gripping direction, respectively, when a target is gripped by a gripping unit of a robot hand. ,
On the screen of the display device,
(A) a process of three-dimensionally displaying the shape of the object and a movement display unit for indicating the gripping position and the gripping direction;
(B) a process of changing the three-dimensional position and orientation of the moving display unit in accordance with the position changing operation and the direction changing operation performed on the operating device;
(C) When a setting operation is performed on the operating device, at this time, the position indicated by the movement display unit in the shape of the target object and the direction in which the movement display unit faces three-dimensionally are respectively grasped. A gripping operation setting program for causing a computer to execute processing for setting a position and a gripping direction.