JP7429630B2 - How to grip linear objects - Google Patents

Description

The present invention relates to a method of grasping a linear object using a robot hand.

BACKGROUND ART Robots that recognize objects using a three-dimensional camera or the like, autonomously grasp them, and assemble them at predetermined locations are becoming more and more popular. Regarding grasping a linear object, Patent Document 1 describes how to measure the three-dimensional shape of a plurality of linear objects, and when grasping one of the linear objects with a robot hand, compare other linear objects. A method of determining whether an object interferes with the object and grasping it with a robot hand is described. Regarding assembling linear objects, Patent Document 2 discloses that image information of a tip member connected to the tip of a linear member held by a robot hand is acquired, the position of the tip member is calculated, and the position of the tip member is calculated using the robot hand. A method of connecting a tip member to a connecting member is described.

Regarding grasping and assembling a linear object, Patent Document 3 describes that the coordinates of two or more points of a linear object having a tip member at the tip are acquired using a three-dimensional measuring device, the position of the tip member is estimated, and the position of the tip member is estimated using a robot hand. A method is described in which a tip member is gripped, an image of the gripped tip member is acquired, a required rotation angle of the tip member is calculated, and a robot hand is used to connect the tip member to a connecting member. Further, in Patent Document 4, regarding a robot device that performs assembly work of a linear body, the fixing position of the linear body with one end fixed is grasped in advance, and after gripping a part in the vicinity with a gripping part, Moving the gripping part while sliding it against the linear object along a predetermined trajectory, and stopping the slide by detecting with a force sensor when the gripping part comes into contact with a connector provided at the other end, and stopping the slide. It is described that the attitude of the other end is later detected using a camera, and the assembly work of the linear body is performed according to the attitude of the other end.

International Publication No. WO2019/098074 Japanese Patent Application Publication No. 2020-110881 Japanese Patent Application Publication No. 2020-112470 Japanese Patent Application Publication No. 2014-176917

All of the above patent documents relate to gripping one end of a linear object with a robot hand and assembling the object. Furthermore, the method of Patent Document 4 requires that one end of the linear body be fixed. On the other hand, depending on the content of the work, there are cases where it is necessary to grasp both ends of the linear object and perform the assembly work. However, it is not so easy to grasp both ends of a linear object with two robot hands. In particular, when gripping one linear object from a large number of flexible and easily deformable linear objects, it is not easy to select both ends of the same linear object. Furthermore, if one linear object is simply grasped and picked up by both ends, there is a problem that other linear objects overlapping the linear object will follow and be taken out.

The present invention has been made in consideration of the above, and an object of the present invention is to provide a method for grasping both ends of a linear object with a robot hand, and is applicable to various linear objects.

The linear object grasping method of the present invention measures the three-dimensional shape of the linear object near the first end supplied to the supply unit, and measures the three-dimensional shape of the linear object near the first end and the distance from the first end. a first grasping step of grasping a first grasping position within a predetermined range with a first robot hand; a drawing step of moving the first robot hand to pull out the grasped linear object; and a drawing step of moving the first robot hand to pull out the grasped linear object; a second gripping step of measuring the three-dimensional shape of the object and gripping a second gripping position near the second end and within a predetermined distance from the second end with a second robot hand; .

Here, the supply section refers to a place where linear objects to be used for work are placed, and is a concept that includes containers such as cylinders and trays, and stands such as tables. Supplying the linear object to the supply unit includes storing the linear object in a cylinder or a tray, and placing the linear object on a table.

With this method, the first robot hand and the second robot hand can grip the linear object at the first gripping position and the second gripping position, respectively.

Preferably, the drawing step is a step of drawing out the linear object while leaving the second end of the linear object in the supply section, and the second gripping step is a step of drawing out the linear object near the supply section. measuring the three-dimensional shape of the intermediate part of the object and supporting the intermediate part with the second robot hand; and with the second robot hand supporting the linear object, the first robot hand a guiding step of sliding the linear object relative to the second robot hand by moving the object, and guiding the second gripping position to the second robot hand; and a guiding step of guiding the second gripping position to the second robot hand. and a step of gripping with.

Here, "supporting" the linear object means holding the linear object in a slidable state with respect to the robot hand. Note that in this specification, "grasping" a linear object means firmly holding the linear object so that it does not move relative to the robot hand. With this method, the intermediate portion near the supply section is three-dimensionally measured and supported by the second robot hand, so even if the linear object is easily deformed and cannot be gripped by teaching, it can be supported reliably. As a result, the distance by which the linear object is slid relative to the second robot hand in the guiding step can be shortened, and the working time can be shortened.

More preferably, the second robot hand includes drop-off prevention means for preventing the linear object from falling off the second robot hand during the guiding step.

Alternatively, the drawer process is the process of drawing the line -like material while leaving the second edge of the line -like form in the supplier part, and the second handling process is the 3D shape near the second end. This is a step of measuring and gripping the second gripping position with a second robot hand. Depending on the nature of the linear object and the manner in which it is supplied, by pulling out most of the linear object, the second gripping position remaining in the supply section can be directly grasped by the second robot hand. With this method, the guiding step required by other linear object gripping methods can be omitted.

Alternatively, the drawing step is a step of drawing out the linear object and taking it out from the supply unit, and the second gripping step is a step of measuring a three-dimensional shape near the second end and determining the second gripping position. This is a process of gripping with the second robot hand. Depending on the length and properties of the linear object, when the linear object is completely removed from the supply section, the three-dimensional shape near the second end in the free state is measured, and the second gripping position is determined by the second robot hand. It can be grasped directly. With this method, the guiding step required by other linear object gripping methods can be omitted.

Preferably, the method for grasping a linear object includes: measuring a three-dimensional shape from the first robot hand to the first end while the first robot hand is grasping the linear object; The method further includes the step of measuring a three-dimensional shape from the second robot hand to the second end while the two robot hands grip the linear object. This facilitates the subsequent work of assembling both ends of the linear object.

According to the linear object gripping method of the present invention, the first robot hand and the second robot hand can grip the linear object at the first gripping position and the second gripping position, respectively.

1 is a diagram illustrating an example of an overall system for carrying out the linear object grasping method of the present invention. FIG. 3 is a process flow diagram of the linear object gripping method according to the first embodiment. A to C: Diagrams for explaining each step of the linear object gripping method according to the first embodiment. A to C: Diagrams for explaining each step of the linear object gripping method according to the first embodiment. It is a figure for explaining the drawing process when a different supply part is used in the linear object grasping method of 1st Embodiment. It is a figure which shows the example of a 2nd robot hand and a falling-off prevention means. A: A state in which the distance between the fingers is widened. B, C: A state in which the distance between the fingers is narrowed and a linear object is supported. It is a process flow diagram of the linear object grasping method of 2nd Embodiment. FIG. 7 is a diagram for explaining a drawing step and a second gripping step of the linear object gripping method of the second embodiment. It is a process flow diagram of the linear object grasping method of 3rd Embodiment. It is a figure for explaining A: a drawing process, and B: a 2nd grasping process of the linear object grasping method of 3rd Embodiment.

A first embodiment of the linear object gripping method of the present invention will be described based on FIGS. 1 to 6.

Referring to FIG. 1, the linear object grasping method of this embodiment uses a first robot hand 11, a second robot hand 12, and a three-dimensional camera 13. The first robot hand and the second robot hand are attached to the ends of arms of an articulated robot (not shown). A control unit (not shown) controls the operations of the first robot hand, the second robot hand, and the three-dimensional camera, and performs various calculations such as calculating a three-dimensional shape. Note that hereinafter, the "robot hand" may be simply referred to as "hand."

A plurality of linear objects 30 to be worked are inserted into a cylindrical container 14 serving as a supply section 14 and supplied. The type of linear object is not particularly limited, and various fibers, electric wires, etc. can be held. The shape of the supply section in which the linear object is placed is not particularly limited, and various containers such as a cylinder and a tray can be used. Alternatively, a stand such as a table may be used as the supply unit, and the linear object may be placed on the stand and supplied.

A first robot hand (first hand) 11 and a second robot hand (second hand) 12 are attached to the tip of an arm of an articulated robot. As the robot equipped with the first hand and the second hand, a known articulated robot can be suitably used. The first hand and the second hand may be attached to different robots, or may be attached to one dual-arm robot. As the first hand and the second hand, various known grippers capable of gripping a linear object can be used.

Note that the second hand 12 is preferably provided with a drop-off prevention means for preventing the linear object from falling off when the linear object is slid in a guiding process to be described later. An example of the second hand and the drop-off prevention means will be described below with reference to FIG. 6. The second hand 12 has a first finger section 21 and a second finger section 22, and can change the distance between the pair of fingers while keeping them parallel to each other. As a result, by closing the gap between both finger parts 21 and 22 and holding the linear object 30, and by slightly widening the gap and loosening the grip on the linear object, the second hand can support the linear object while holding the linear object 30. It can be slid (S) (FIG. 6B). The second finger section is provided with two rod-shaped regulating members 23 and 24 on its side as a drop-off prevention means at a position that does not interfere with the first finger section when the distance between the second finger section and the first finger section is closed. If the linear object is supported between the pair of regulating members, the linear object will not come off the frame surrounded by the finger parts 21, 22 and the regulating members 23, 24. Thereby, even if the linear object is flexible and easily deformed, it will not fall off from the second hand when the linear object is slid in its length direction. Note that the form of the falling-off prevention means is not limited to this, and both the first finger portion and the second finger portion may be provided with a regulating member, or the number of regulating members may be three or more. For example, the regulating member may be a hook-shaped (L-shaped) portion 25 provided at the tip of the first finger or the second finger (FIG. 6C).

The three-dimensional camera 13 is a three-dimensional measuring machine for measuring the three-dimensional shape of the linear object 30. Although the type of three-dimensional camera is not particularly limited, a stereo camera is preferably used. Stereo cameras use two images taken from different viewpoints to calculate the three-dimensional position of a measurement point using the principle of triangulation, and can perform three-dimensional measurement with high accuracy when the distance to the measurement point is short. This is possible, and by using epipolar wires as described in Patent Documents 2 and 3, the three-dimensional shape of a linear object can be measured at high speed.

The linear object gripping method of this embodiment will be explained with reference to FIGS. 2 to 5. Note that in this specification, gripping a linear object at a first gripping position near the first end may be simply referred to as "grasping the first end," and the same applies to the second gripping position.

Referring to FIG. 2, the linear object gripping method of the present embodiment measures the three-dimensional shape near the first end of the linear object 30 supplied to the supply unit 14 (S1), The first gripping position is gripped by the first hand 11 (S2), the first hand is moved, and the linear object is pulled out while leaving the second end of the gripped linear object in the supply section (S3). The three-dimensional shape of the intermediate part of the nearby linear object is measured (S4), the intermediate part is supported by the second hand 12 (S5), and the linear object is slid while being supported by the second hand. The second gripping position near the second end is guided to the second hand (S6), and the second gripping position is gripped by the second hand (S7). After that, the work of assembling the linear object 30, etc. is performed.

(S1) First, the three-dimensional shape near the first end of the linear object 30 is measured. When the supply section is a cylindrical container as shown in FIG. 1, the vicinity of the opening of the container may be imaged with a three-dimensional camera. The area in which the three-dimensional measurement is performed includes at least the first end and a portion where the distance from the first end is within a predetermined range and where the position to be gripped by the first hand 11 is present. If the method described in Patent Document 1 is used, it is determined whether or not another linear object interferes when a certain linear object is gripped by the first hand, and the other linear object is A linear object can be selected that can be gripped without interfering with the object.

(S2) Referring to FIG. 3A, the first hand 11 grips the linear object 30 at the first gripping position 32 based on the measured three-dimensional shape near the first end 31. The first gripping position is located near the first end of the linear object and is set at a predetermined distance from the first end. This is to allow a necessary length to protrude from the first hand in later assembly work, for example, work in which the first end is inserted into a connector or the like. At this time, since the assembly work can be performed even if the length protruding from the first hand changes somewhat, the first gripping position only needs to be within a predetermined distance from the first end. For example, when inserting into a connector, etc. within a range of 10 mm from the first end in later assembly work, set the predetermined position such that the first gripping position is a point within a range of 10 to 30 mm from the first end. You may also set a range.

The exact distance from the first end to the first gripping position can be determined by gripping a point within a predetermined distance from the first end with the first hand, and then using a three-dimensional camera to measure the vicinity of the first end. You can go and ask for it. Alternatively, when selecting the linear object in step S1, the first gripping position may be determined accurately and the linear object may be gripped at that position.

(S3) Referring to FIG. 3B, the first hand 11 is moved to pull out the linear object 30, preferably most of it, from the supply section 14 (P). At this time, the linear object is not completely taken out from the supply section, but the second end 36 remains in the supply section. When the linear object is completely removed from the supply section, there is nothing to restrain the second end, and the second end becomes free. , the second end swings significantly, making it difficult to specify the position of the second end or to grasp or support the vicinity of the second end with the second hand 12.

The direction in which the linear object 30 is drawn out is preferably approximately in the length direction of the linear object. This is because in the subsequent step S5, the intermediate portion 33 of the linear object near the supply section can be imaged without moving the field of view of the three-dimensional camera 13. When a linear object is supplied in a cylindrical container 14, the linear object is naturally pulled out in the length direction, and the field of view of the three-dimensional camera is fixed near the opening of the container. You can keep it. In this case, it is preferable that the direction in which the first hand 11 is moved is also generally aligned with the length direction of the linear object. This is to prevent unnecessary deformation of the linear object. If the linear object 30 is pulled out generally in its length direction, the field of view of the three-dimensional camera 13 can be moved even if the linear object is placed on a shallow tray 5 or a table and is supplied, as shown in FIG. It is possible to image the intermediate portion 33 of the linear object in the vicinity of the supply section 15 without causing any damage.

Regarding the amount of the linear object 30 to be drawn out, it is preferable that the portion of the linear object remaining in the supply section 14 is small. This is because in the next steps S4 and S5, three-dimensional measurement is performed using the part closer to the second end 36 as the intermediate part 33, and the part closer to the second end can be supported by the second hand 12. . The amount to pull out the linear object is determined by determining the target position of the first hand 11 based on the distance from the first end 31 to the first gripping position 32 and the position of the supply unit 14, assuming that the total length of the linear object is known. You can make adjustments by deciding. Alternatively, the first hand may be moved while three-dimensionally measuring the linear object to be drawn out, and the movement of the first hand may be stopped when a length close to the entire length of the linear object has been drawn out from the supply section. good.

(S4) The three-dimensional shape of the intermediate portion 33 of the linear object 30 near the supply section 14 is measured. The intermediate portion is the portion to be supported by the second hand 12. When the supply section is a cylindrical container, as described above, by imaging the vicinity of the opening of the container with the three-dimensional camera 13, three-dimensional measurement of the intermediate portion near the supply section can be performed. When a plurality of linear objects are included in the photographed image, the middle part of the target linear object, that is, the linear object whose first end 31 is held by the first hand 11, is, for example, The determination may be made based on the presence or absence. The target linear object has been drawn out and can be identified because the first end 31 does not exist within the field of view of the three-dimensional camera 13. Alternatively, the linear object selected in step S1 may be tracked by continuously photographing it even during the drawing step (S3).

(S5) Referring to FIG. 3C, the intermediate portion 33 is supported by the second hand 12 based on the measured three-dimensional shape of the intermediate portion 33. It is preferable that the position of support with the second hand be closer to the second end 36. This is because the distance over which the linear object 30 is slid in the next guiding step (S6) can be shortened, and the working time can be shortened. To do this, as described above, when drawing out the linear object (step S3), the portion of the linear object that remains in the supply section 14 is reduced, and the part of the intermediate section 33 near the supply section that is close to the supply section 14 is reduced. Therefore, it is sufficient to support a position close to the second end 36. The position where the second hand supports the linear object is preferably located closer to the second end than the midpoint of the length of the linear object. For example, when the total length of the linear object is 300 mm, the distance from the second end 36 of the linear object to the position supported by the second hand can be 100 mm or less. Alternatively, the distance from the second end 36 of the linear object may be 1/4 or less of the total length of the linear object.

In addition, when supporting the intermediate part 33 with the second hand 12, the intermediate part is once gripped with the second hand, and when the linear object 30 is slid in the next guiding step (S6), the linear object is The posture of the second hand may be changed so as not to fall off from the second hand. Further, at this time, the posture of the second hand may be changed after the second hand is moved to take out the second end 36 of the linear object from the supply section 14. This operation is not necessary if the second hand is provided with a drop-off prevention means.

In this embodiment, by measuring the three-dimensional shape of the intermediate portion 33 of the linear object near the supply unit 14, the intermediate portion 33 can be supported by the second hand 12. Although the position and shape of the intermediate part are limited to some extent by the fact that the second end remains in the supply section, it is difficult to grasp or support the intermediate part by teaching the movement of the second hand in advance. Ta. If the second hand 12 supports the area immediately inside the first gripping position 32, it is also possible to support the side of the first hand through prior teaching or the like. However, in that case, the second hand is slid over almost the entire length of the linear object 30 from the vicinity of the first gripping position to the second gripping position, which takes time. By three-dimensionally measuring the intermediate portion near the supply section, it becomes possible to support a position close to the second end 36 of the linear object 30 with the second hand, and the second gripping process is performed in the next guiding step (S6). The distance over which the linear object must be slid in order to guide the position to the second hand is shortened, and the working time can be shortened.

(S6) Referring to FIG. 4A, by moving the first hand while being supported by the second hand 12, the linear object 30 is slid in the length direction with respect to the second hand (S) , guides the second gripping position 35 near the second end 36 to the second hand. The second gripping position is located near the second end of the linear object and is set at a predetermined distance from the second end. Similar to the first gripping position 32, this is to allow the necessary length to protrude from the second hand in later assembly work, and the second gripping position is set so that the distance from the second end is within a predetermined range. Bye.

The distance to slide the linear object 30 is the total length of the linear object, the distance from the first end 31 to the first gripping position 32, the distance from the second end 36 to the second gripping position 35, and the position of the first hand 11. and the position of the second hand 12. Alternatively, three-dimensional measurement of the sliding linear object may be performed while moving the first hand, and the movement of the first hand may be stopped after confirming that the second grasping position has reached the second hand. Specifically, the linear object 30 is continuously measured three-dimensionally in the vicinity of the second gripping position, the distance between the end (second end) and the second gripping position is calculated, and the second gripping position is measured based on the distance. It is only necessary to determine whether the gripping position has reached the second hand. As a result, even if the force sensor or the like cannot detect the end point of the slide, the slide can be stopped when the second gripping position reaches the second hand without causing the linear object to fall off.

(S7) Referring to FIG. 4B, the second hand 12 grips the linear object 30 at the second gripping position 35. For example, in the case of the second hand shown in FIG. 6, by closing the gap between the pair of fingers 21 and 22 that was slightly open when sliding the linear object, the linear object is gripped so that it does not move. .

Referring to FIG. 4C, both ends of the linear object 30 could be gripped by the first hand 11 and the second hand 12 through the above steps. After this, the work of assembling the linear object can be performed. Furthermore, in preparation for the assembly work, the three-dimensional shape of the first tip from the first hand to the first end and the second tip from the second hand to the second end may be measured. The applicant previously filed an application for a method of grasping a curved linear object with a robot hand and inserting and pushing the tip into a predetermined hole (Japanese Patent Application No. 2019-146818). By obtaining the three-dimensional shapes of the first tip and the second tip, it is possible to assemble them into a connector or the like using the same method.

Next, a second embodiment of the linear object gripping method of the present invention will be described with reference to FIGS. 7 and 8.

The apparatus used in the linear object gripping method of this embodiment is the same as that of the first embodiment (FIG. 1). Further, the same reference numerals as in the first embodiment are used for each part of the device and the linear object. This embodiment differs from the first embodiment in that after the first hand 11 is moved to pull out the linear object 30, the second hand 12 directly grasps the second grasping position 35. Description of the same parts as in the first embodiment will be omitted.

Referring to FIG. 7, the linear object gripping method of the present embodiment measures the three-dimensional shape near the first end of the linear object 30 supplied to the supply unit 14 (S1), Grip the first gripping position with the first hand 11 (S2), move the first hand, and pull out the linear object while leaving the second end of the gripped linear object in the supply section (S3). The steps are the same as those in the first embodiment (FIG. 2).

(S4B) The three-dimensional shape of the linear object 30 remaining in the supply section 14 near the second end 36 is measured. In step S4 of the first embodiment, the middle part 33 of the linear object near the supply section 14 is measured three-dimensionally, whereas in this step S4B, the vicinity of the second end of the linear object in the supply section is three-dimensionally measured. They differ in some respects. This difference is due to the difference in the position to be focused on for supporting or gripping with the second hand 12. However, when most of the linear object is pulled out from the supply part as a preferable form in the drawing step (S3), the intermediate part 33 in the first embodiment and the vicinity of the second end 36 in the present embodiment almost overlap, The work itself of capturing an image of the area with the three-dimensional camera 13 and measuring the three-dimensional shape is the same work.

(S7B) Referring to FIG. 8, the second hand 12 grips the linear object 30 at the second gripping position 35 based on the measured three-dimensional shape near the second end 36.

Through the above steps, both ends of the linear object 30 could be gripped by the first hand 11 and the second hand 12.

According to the method of this embodiment, the second gripping position 35 is directly gripped by the second hand 12, so the guiding step (S6) required in the first embodiment can be omitted. However, in order for the method of this embodiment to be applicable, certain conditions must be met, such as the properties of the linear objects to be such that they do not easily entangle with other linear objects, and the density of the number of linear objects in the supply section to be small. need to be met.

As a usage of this embodiment, the three-dimensional shape of the intermediate portion 33 and the vicinity of the second end 36 is measured in step S4 of the first embodiment, and the second When it is determined that the gripping position 35 can be directly gripped, the second gripping position can be directly gripped. For example, when the linear object in the supply section 14 is running low and it is possible to directly grip the second gripping position without temporarily supporting the intermediate part, the second gripping position may be gripped with the second hand.

Next, a third embodiment of the linear object gripping method of the present invention will be described with reference to FIGS. 9 and 10.

The apparatus used in the linear object gripping method of this embodiment is the same as that of the first embodiment (FIG. 1). Further, the same reference numerals as in the first embodiment are used for each part of the device and the linear object. In this embodiment, the first hand 11 is moved to completely take out the linear object 30 from the supply unit 14, and the second gripping position 35 near the second end in the free state is directly gripped with the second hand 12. It differs from the first embodiment in that it is gripped. Description of the same parts as in the first embodiment will be omitted.

Referring to FIG. 9, the linear object grasping method of the present embodiment measures the three-dimensional shape near the first end of the linear object 30 supplied to the supply unit 14 (S1), The first gripping position is gripped by the first hand 11 (S2), and the steps up to this point are the same as in the first embodiment (FIG. 2).

(S3C) Referring to FIG. 10, the first hand 11 is moved to pull out the linear object 30 and completely take it out from the supply section 14. The second end of the linear object is in a free state.

(S4C) The three-dimensional shape of the linear object 30 near the second end 36 is measured by the three-dimensional camera 13.

(S7C) The second hand 12 grips the linear object 30 at the second gripping position 35 based on the measured three-dimensional shape near the second end 36.

Through the above steps, both ends of the linear object 30 could be gripped by the first hand 11 and the second hand 12.

According to the method of this embodiment, the second gripping position 35 is directly gripped by the second hand 12, so the guiding step (S6) required in the first embodiment can be omitted. However, in order for the method of this embodiment to be applicable, it is necessary to satisfy conditions such as the linear object not being too long and the linear object not being deformed or having a small amount of deformation.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the technical idea.

11 First robot hand (first hand)
12 Second robot hand (second hand)
13 3D camera 14 Container (supply section)
15 Tray (supply section)
21 First finger portion 22 Second finger portion 23, 24 Regulating member (falling prevention means)
25 Hook-shaped part (falling prevention means)
30 Linear object 31 First end 32 First gripping position 33 Intermediate part 35 Second gripping position 36 Second end P Pulling direction S Sliding direction

Claims (6)

A first gripping position near the first end and within a predetermined distance from the first end is determined by measuring the three-dimensional shape near the first end of the linear object supplied to the supply unit. a first gripping step of gripping with a first robot hand;
a drawing step of moving the first robot hand to draw out the gripped linear object;
A second robot hand that measures the three-dimensional shape of the pulled-out linear object and grips a second gripping position near the second end and within a predetermined distance from the second end. a gripping process;
A method for grasping a linear object. The drawing step is a step of drawing out the linear object while leaving the second end of the linear object in the supply section,
The second gripping step
measuring a three-dimensional shape of an intermediate portion of the linear object near the supply unit, and supporting the intermediate portion with the second robot hand;
With the second robot hand supporting the linear object, the first robot hand is moved to slide the linear object relative to the second robot hand, and the second gripping position is moved to the second gripping position. a guidance process for guiding to a second robot hand;
gripping the second gripping position with the second robot hand,
The method for grasping a linear object according to claim 1. The second robot hand is provided with a drop-off prevention means that prevents the linear object from falling off the second robot hand during the guiding step.
The linear object gripping method according to claim 2. The drawing step is a step of drawing out the linear object while leaving the second end of the linear object in the supply section,
The second gripping step is a step of measuring a three-dimensional shape near the second end and gripping the second gripping position with a second robot hand.
The method for grasping a linear object according to claim 1. The drawing step is a step of drawing out the linear object and taking it out from the supply section,
The second gripping step is a step of measuring a three-dimensional shape near the second end and gripping the second gripping position with a second robot hand.
The method for grasping a linear object according to claim 1. measuring a three-dimensional shape from the first robot hand to the first end in a state where the first robot hand grips the linear object;
measuring a three-dimensional shape from the second robot hand to the second end while the second robot hand grips the linear object;
The linear object gripping method according to any one of claims 1 to 5, further comprising:

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