JP6758540B1 - 情報処理装置、ワーク認識装置およびワーク取り出し装置 - Google Patents

情報処理装置、ワーク認識装置およびワーク取り出し装置 Download PDF

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JP6758540B1
JP6758540B1 JP2020521394A JP2020521394A JP6758540B1 JP 6758540 B1 JP6758540 B1 JP 6758540B1 JP 2020521394 A JP2020521394 A JP 2020521394A JP 2020521394 A JP2020521394 A JP 2020521394A JP 6758540 B1 JP6758540 B1 JP 6758540B1
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gripping
work
posture
information
grip
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Japanese (ja)
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JPWO2021124445A1 (ja
Inventor
亮輔 川西
亮輔 川西
彩佳里 大島
彩佳里 大島
泰憲 櫻本
泰憲 櫻本
智樹 玉田
智樹 玉田
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39271—Ann artificial neural network, ffw-nn, feedforward neural network
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39514—Stability of grasped objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
JP2020521394A 2019-12-17 2019-12-17 情報処理装置、ワーク認識装置およびワーク取り出し装置 Active JP6758540B1 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/049393 WO2021124445A1 (ja) 2019-12-17 2019-12-17 情報処理装置、ワーク認識装置およびワーク取り出し装置

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JP6758540B1 true JP6758540B1 (ja) 2020-09-23
JPWO2021124445A1 JPWO2021124445A1 (ja) 2021-12-23

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JP (1) JP6758540B1 (de)
CN (1) CN114845844B (de)
DE (1) DE112019007852B4 (de)
WO (1) WO2021124445A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022153578A1 (ja) * 2021-01-12 2022-07-21 株式会社エクサウィザーズ 情報処理装置、情報処理方法、およびプログラム
JP2022179118A (ja) * 2021-05-21 2022-12-02 株式会社Preferred Networks 把持推定装置、モデル生成方法、モデル学習装置、及びグリッパ

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022207847A1 (de) 2022-07-29 2024-02-01 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Steuern eines Roboters zum Manipulieren, insbesondere Aufnehmen, eines Objekts

Citations (2)

* Cited by examiner, † Cited by third party
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JP2010179443A (ja) * 2009-02-09 2010-08-19 Honda Motor Co Ltd 把持位置計算装置及び把持位置計算方法
JP2015044274A (ja) * 2013-08-29 2015-03-12 三菱電機株式会社 部品供給装置および部品供給装置のプログラム生成方法

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JP5558585B2 (ja) 2010-11-17 2014-07-23 三菱電機株式会社 ワーク取り出し装置
JP5837065B2 (ja) * 2011-06-29 2015-12-24 三菱電機株式会社 部品供給装置
GB201309156D0 (en) * 2013-05-21 2013-07-03 Univ Birmingham Grasp modelling
JP5788460B2 (ja) 2013-11-05 2015-09-30 ファナック株式会社 バラ積みされた物品をロボットで取出す装置及び方法
US9889564B2 (en) * 2015-07-08 2018-02-13 Empire Technology Development Llc Stable grasp point selection for robotic grippers with machine vision and ultrasound beam forming
JP6700726B2 (ja) * 2015-11-06 2020-05-27 キヤノン株式会社 ロボット制御装置、ロボット制御方法、ロボット制御システムおよびコンピュータプログラム
JP6902208B2 (ja) 2017-11-14 2021-07-14 オムロン株式会社 把持方法、把持システム及びプログラム
JP6676030B2 (ja) * 2017-11-20 2020-04-08 株式会社安川電機 把持システム、学習装置、把持方法、及び、モデルの製造方法
JP6662836B2 (ja) 2017-11-24 2020-03-11 ファナック株式会社 収容領域又は治具にワークを配置するワーク配置システム
JP6912415B2 (ja) 2018-04-10 2021-08-04 ファナック株式会社 ハンド制御装置およびハンド制御システム
CN110363815A (zh) * 2019-05-05 2019-10-22 东南大学 一种单视角点云下基于实例分割的机器人抓取检测方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010179443A (ja) * 2009-02-09 2010-08-19 Honda Motor Co Ltd 把持位置計算装置及び把持位置計算方法
JP2015044274A (ja) * 2013-08-29 2015-03-12 三菱電機株式会社 部品供給装置および部品供給装置のプログラム生成方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022153578A1 (ja) * 2021-01-12 2022-07-21 株式会社エクサウィザーズ 情報処理装置、情報処理方法、およびプログラム
JP2022108213A (ja) * 2021-01-12 2022-07-25 株式会社エクサウィザーズ 情報処理装置、情報処理方法、およびプログラム
JP2022179118A (ja) * 2021-05-21 2022-12-02 株式会社Preferred Networks 把持推定装置、モデル生成方法、モデル学習装置、及びグリッパ

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Publication number Publication date
DE112019007852B4 (de) 2023-06-22
CN114845844B (zh) 2023-05-30
CN114845844A (zh) 2022-08-02
WO2021124445A1 (ja) 2021-06-24
DE112019007852T5 (de) 2022-07-28
JPWO2021124445A1 (ja) 2021-12-23

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