JPS6487176A - Robot gripping-point determination system - Google Patents

Robot gripping-point determination system

Info

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
Application number
JP24341387A
Other languages
Japanese (ja)
Inventor
Shinsuke Sakakibara
Yoshiharu Nagatsuka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP24341387A priority Critical patent/JPS6487176A/en
Publication of JPS6487176A publication Critical patent/JPS6487176A/en
Pending legal-status Critical Current

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.
JP24341387A 1987-09-28 1987-09-28 Robot gripping-point determination system Pending JPS6487176A (en)

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)

* Cited by examiner, † Cited by third party
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

Cited By (7)

* Cited by examiner, † Cited by third party
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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