JPS6487176A - Robot gripping-point determination system - Google Patents
Robot gripping-point determination systemInfo
- Publication number
- JPS6487176A JPS6487176A JP24341387A JP24341387A JPS6487176A JP S6487176 A JPS6487176 A JP S6487176A JP 24341387 A JP24341387 A JP 24341387A JP 24341387 A JP24341387 A JP 24341387A JP S6487176 A JPS6487176 A JP S6487176A
- Authority
- JP
- Japan
- Prior art keywords
- gravity
- robot
- parallel surfaces
- component
- center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
PURPOSE: To automatically decide the object grasping position by a robot hand by searching after any parallel surfaces pinching the center of gravity of the object using the shape data prepared for the object, and determining the grasping point of the robot in accordance with existence of such parallel surfaces. CONSTITUTION: Using the shape data prepared for each component 1, a search is made after any parallel surfaces pinching the center of gravity 6 of the component 1. If parallel surfaces exist according to the result from searching, two points P1 and P2 on the parallel surfaces pinching the center of gravity G are used as the grasping points of a robot. If parallel surfaces do not exist, a plane 3 which is perpendicular to the straight line passing the gravity G and the origin Q of the robot and contains the center of gravity G should be determined. The intersecting lines L1 -L4 of this plane 3 with the contour of the component 1 are determined, and two points P1 and P2 on L1 and L2 pinching the gravity G of component 1 are used as the grasping points of robot. In this manner it is possible to automatically determine the position at which the component 1 is grasped by a robot hand 2.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP24341387A JPS6487176A (en) | 1987-09-28 | 1987-09-28 | Robot gripping-point determination system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP24341387A JPS6487176A (en) | 1987-09-28 | 1987-09-28 | Robot gripping-point determination system |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6487176A true JPS6487176A (en) | 1989-03-31 |
Family
ID=17103495
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP24341387A Pending JPS6487176A (en) | 1987-09-28 | 1987-09-28 | Robot gripping-point determination system |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6487176A (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005007486A (en) * | 2003-06-16 | 2005-01-13 | Toyota Motor Corp | Gripping control device of robot hand |
JP2005169564A (en) * | 2003-12-11 | 2005-06-30 | Toyota Motor Corp | Method for gripping object of optional shape by robot |
JP2008272886A (en) * | 2007-04-27 | 2008-11-13 | Nissan Motor Co Ltd | Gripping candidate position selecting device, gripping candidate position selecting method, gripping passage forming device and gripping passage forming method |
JP2012139758A (en) * | 2010-12-28 | 2012-07-26 | Toyota Motor Corp | Gripping device |
JP2017010447A (en) * | 2015-06-25 | 2017-01-12 | 富士通株式会社 | Finger model verification program, finger model verification method, and information processing device |
CN108555895A (en) * | 2017-12-29 | 2018-09-21 | 深圳市越疆科技有限公司 | It takes method, fetching structure and intelligent machine arm |
-
1987
- 1987-09-28 JP JP24341387A patent/JPS6487176A/en active Pending
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005007486A (en) * | 2003-06-16 | 2005-01-13 | Toyota Motor Corp | Gripping control device of robot hand |
JP2005169564A (en) * | 2003-12-11 | 2005-06-30 | Toyota Motor Corp | Method for gripping object of optional shape by robot |
JP2008272886A (en) * | 2007-04-27 | 2008-11-13 | Nissan Motor Co Ltd | Gripping candidate position selecting device, gripping candidate position selecting method, gripping passage forming device and gripping passage forming method |
JP2012139758A (en) * | 2010-12-28 | 2012-07-26 | Toyota Motor Corp | Gripping device |
JP2017010447A (en) * | 2015-06-25 | 2017-01-12 | 富士通株式会社 | Finger model verification program, finger model verification method, and information processing device |
CN108555895A (en) * | 2017-12-29 | 2018-09-21 | 深圳市越疆科技有限公司 | It takes method, fetching structure and intelligent machine arm |
CN108555895B (en) * | 2017-12-29 | 2021-12-07 | 日照市越疆智能科技有限公司 | Taking method, taking structure and intelligent mechanical arm |
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