200938345 六、發明說明： 【發明所屬之技術領域】 本發明有關用於抓取物品之機插 <士垃/ 于’該機械手包括一 。又有握爪之可移動的機械手臂及一配^ 感測器。本發明亦有關在工業程序中錢械手臂上之 運系統及有關用於抓取物品之方法。一搬運物σ°之搬 【先前技術】 為在工業程序中搬運物品，機撼丰 主〆 硪手破使用，該等機械 手係設有抓握裝置，其用於抓取、固 路 u待及移動此等物品。 4如，待搬運之物品可為等待處理（例如機械加工、及/ 或安裝）之物品。於美國專利第5617335號中其已建議 -機械手可為設有照相機。待搬運之物品被作記號，且該 照相機跟隨著已施加至所討論之物品的記號。藉由該职相 機所獲得之資料接著被使用於控制該機械手。本發明之一 目的係提供一用於抓取物品之改良的機械手、—用於待搬 運物品之改良的系統、及一用於抓取物品之改良的方法。 【發明内容】 本發明有關用於抓取物品之機械手，該機械手包括— 具有握爪之可移動的機械手臂。在該可移動的機械手臂 上’配置一感測器。該感測器係連接至一控制單元，配置 該控制單元，以控制該機械手臂。該感測器包括一線性雷 射器（line laser)及一配置成可接收所反射之雷射光的光學 200938345 接收器。 該感測器可被配置成相對於職爪固定的。 ::性雷射器及該光學接收器可相對彼此被而配置在 一角度中，該角度係於10度與65度之間。 本發明亦有關用於在工業程序中搬運物品之搬運系 =。本發明之搬運系統包括輸送帶，㈣物品可在該輸送200938345 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates to a machine for grasping an item. There is also a movable robot arm with a gripper and a ^ sensor. The invention also relates to a transport system on an arm in an industrial process and a method for picking up an item. A moving object σ° moving [prior art] In order to carry articles in an industrial program, the machine is used by a hand, and the robot is provided with a gripping device for grasping and fixing the road. And move these items. 4 For example, the item to be handled may be an item that is awaiting processing (eg, machining, and/or installation). It has been suggested in U.S. Patent No. 5,617,335 that the robot can be provided with a camera. The item to be carried is marked and the camera follows the mark that has been applied to the item in question. The information obtained by the job camera is then used to control the robot. SUMMARY OF THE INVENTION One object of the present invention is to provide an improved robot for grasping articles, a system for improving articles to be transported, and an improved method for grasping articles. SUMMARY OF THE INVENTION The present invention relates to a robot for grasping an article, the robot comprising: a movable robot arm having a grip. A sensor is disposed on the movable robot arm. The sensor is coupled to a control unit that is configured to control the robotic arm. The sensor includes a linear laser and an optical 200938345 receiver configured to receive the reflected laser light. The sensor can be configured to be fixed relative to the staff. The 'sexual laser and the optical receiver can be disposed at an angle relative to one another, the angle being between 10 and 65 degrees. The invention also relates to a handling system for carrying articles in industrial processes. The handling system of the present invention includes a conveyor belt, and (4) the article can be transported there
前料…顧手係㈣連接至該輸送帶，且配置 成抓取/抓握該等物品。該機械手包括—具有握爪之可移 動的機械手臂’且—感測器被配置在該可移動的機械手臂 以感謂器係連接至-控制單元，以用於控制該機械手 臂’且該感測器包括一線性雷射器’ χ一光學接收器被配 置成可接收被反射之雷射光。 本發明亦進一步有關用於抓取物品之方法，該等物品 係在工業程序中被搬運。該方法包括一機械手之使用，該 機械手具有一具有握爪之可移動的機械手臂，且一感測器 係配置在該可移動的機械手臂上。該感測器係連接至一控 制單元，以用於控制該可移動的機械手臂。該感測器包括 一線性雷射器及一配置成可接收被反射之雷射光的光學接 收器。該方法包括以來自該感測器之線性雷射器的雷射光 照射該待抓取物品、及在該光學接收器中接收已由該待抓 取物ασ被反射之雷射光。該方法另包括比較該被反射之雷 射光與一預先界定之反射（事先界定之反射）且位移該機械 手煮’直至該被反射之雷射光匹配（一致）於該已被預先界定 之反射。最後’當該被反射之雷射光匹配（一致）於該已被預 5 200938345 先界定之反射時’該方法包括該物品之抓取 待抓取之物品可為在一移動之狀態中。 【實施方式】 參考圖1及圖4，本發明句杯 Η包括用於抓取物品2之機械手 1。該機械手1可適當地為具有至 .^ ^丄 、，主夕一自由度之工業機械 手。譬如’該機械手1可為且右 J馮具有ό軸心之工業機械手。 該機械手臂3及/或其握爪4合t 4 士 & 低爪4犯以就本身而言習知之 方式繞著這些軸心轉動或沿著這此軸 < —和、之或數個線性地 位移。如在圖1中所指示，該箄物〇 &姑 成寻物〇α 2可為藉由輸送帶 所運送之物品。 該機械手1包括-可移動的機械手臂3，該機械手臂具 有-握爪4。在該可移動的機械手臂3上，一感測器5被配 置。該感測器5係連接至一控制單元6，以用於控制該機械 手臂。如在圖3中最佳地顯示，該感測器5包括一線性雷 射器8及一配置成可接收被反射之雷射光的光學接收器9。 如圖3所示，該線性雷射器8及該光學接收器9可被配置 在一外部殼體7之内側，該外部殼體保護該線性雷射器8 ι光干接收器9。關於這一點，合適之線性雷射器8的範 例可為LasirisTM SNF雷射器，其具有635至155〇奈米之波 I ’ 其他構件亦可被使用。 圖2顯示一可能之具體實施例，在此該感測器5被配 置在該機械手臂3之端部。該握爪4亦可被配置在該機械 手臂3之端部，使得該握爪4係相對於該握爪4固定。該 200938345 握爪4將接著隨同該感測器5而移動，使得該感測器5將 總是相對於該握爪4在完全相同之位置中。該握爪4可為 譬如一具有機械式指狀元件之握爪，但亦有其他實現該握 爪4之方式。譬如，該握爪4可為設有吸盤或磁鐵。於圖2 中’該機械手臂3被顯示為沒有其握爪4,但應了解一握爪 可被配置在圖2中之安裝凸緣13上。 ❹ ❹ 該線性雷射器8及該光學接收器9能以不同方式相對 於彼此配置/導向。於一些具體實施<列中，該線性雷射器8 及該光學接收器可相對彼此被配置在一角度中，該角度係 於10度及65度之間。經過實際之試驗，當該角度係小於 1〇度時’本發明家已發現該量測之可靠性傾向於減少，而 如果該角度係'大於65度’該感測器變得不需要地笨重及不 的然而，在此該角度係大於65度時’具體實施例係 可想=。譬如，該角度可在们。度至9〇度之範圍中。 李统之觀點b广工業程序中用於待搬運物品2的搬運 糸既之觀點’亦可了解本 手及輸送帶U。狹而/ 系統包括上述機械 譬如，該輪送帶u可為運送帶。於圖】中;他 顯示，其中懸吊的物品2在該箭MM ώ輪送帶11被 該機械* 1係與該幹^ " | 向令被向前運送。 取藉由該輸送帶；二、㈣地放置’且被配置成可抓 掏送帶11所向前運送之物品2。 物”、座月之機械手1的功能係如下。如在圖1中所俨_ =2破該輸送帶u & t所“， 前運送之物品在該輸送帶1〗上被向 為譬如將被安裝在引擎令之凸輪轴桿。 7 200938345 然而，本發明原則上當然能夠應用至任何物品。當一待抓 取之物品2通過該機械手丨時，該物品2譬如被該感測器5 之線性雷射器8所照射，如圖5及圖6中所顯示。當該線 性雷射器8照射該物品2時’該雷射光將在該物品2上形 成曲線B，如圖6中所示。該雷射光被反射且被該感測器 5之光學接收器9所接收。該光學接收器將接著讀取一對應 於該曲線B之信號。該光學接收器係連接至一控制單元， 該控制單元包括界定一虛擬“視野” 12之軟體。一參考曲 線c被程式設計進入可包括電腦之控制單元6。該參考曲線 C對應於該曲線B之預期形狀。該參考曲線c上之一預先 界定點係坐落在該視野12之中心（圖i中之十字準線的中 間）。當該握爪4係於抓取一物品2之正確位置中時，所讀 取/偵測曲線B之一預先界定點將亦為在該視野12之中 心。換句話說，該曲線B及該參考曲線c將一致。該預先 界定點可為譬如該曲線B上之一最大值或一最小值、或藉 由一直線所構成之曲線的中點。該物品2之位置被轉換成 一信號，該信號係與根據該參考曲線c之設定值/額定值 作比較。當該物品2係相對於該握爪4在一正確位置中時， 所讀取之曲線B的位置將與用於參考曲線c之位置一致。 於圖1中，於二維坐標系中之橫側偏差被顯示為既然 一雷射器被使用，其係亦可能測量該物品2及該感測器5 間之距離。一與該正確距離之偏差被標示為圖丨中之占乂 該控制單元6將來自該設定值之偏差sx、轉換成一 該機械+ 1之《，以此-方式改變該機械手冑3之位置 200938345 該方式係將該等偏差消除或減少至低於一臨介値之值。該 被反射之雷射光係如此與—預先界定之反射作比較，且該 機械手f 3被移動/位#，直至該被反射之雷射光匹配卜 致）於該預先界定之反射。因此，參考曲線c之形式的預先 •界定之反射係被程式設計進入該控制單元6,且該控制單元 ό被設計成適於/程式設計/配置成可比較已由待抓取的 物品所反射之雷射光與該預先界定之反射。接著控制該機 〇械手臂3,以移動直至該被反射之雷射光匹配（一致）於該預 先界定之反射。該控制單元6可包括一放大器14，用於放 大將至該機械手i之信號，以用於控制該機械手【。 如在上面所說明，該控制單元6被程式設計，以決定 深度之偏差（距離）及離該待抓取物品2之橫侧偏差，且校正 該機械手臂3之位置，使得該等偏差被消除或減少至低於 一臨介値。此後，該物品被抓取。 如在圖1中所顯示，該等待抓取之物品2可為於移動 〇之狀態中。譬如，該等物品2可為由一正移動之輸送帶H ^懸吊。另-選擇係，該輸送帶U能於該機械手ι之前面 ^止其移動’及允許該機械手丨#—物品正擺動時抓取該 物品，其係亦概要地指示在圖1中。 當-正移動之物品被抓取時，至正確位置之定位時間 必需為短的。於圖7中’顯示一仔細考慮之案例，在此一 擺動物品將被抓取。該曲線F代表待抓取物品之鐘擺移動， 而該曲線R代表具有其握爪4的機械手臂3之移動。如在 圖7中所示，該鐘擺移動將迅逮地接近一條件，在此該機 9 200938345 械手臂跟隨著該物品2’使得其能於其移動中抓取該物品。 在文中所應了解的是’ 1¾ “正確位置”係將被抓取及可為 在移動的狀態中之物品2的位置。 如果將被抓取之物品2係在移動之狀態中，該移動係 藉由引導該機械” 3之控制單元6標示，以僅跟隨著將 被抓取之物品。 本發明之機械手亦可被使用於其他異於抓取不同物品 之目的。當該機械+ 1已經抓取一物品時，讓該機械手將 已被抓取之物品2放置在一盒子中或在一預定支座（在該等 圖面中未顯示）上可為合適的，在此物品2將被包裝或放置 在中介儲存器中。當該機械手已在此一地點放下一物品2 時，該感測器5可被用來讀取該物品2之位置。接著，如 果已經確認一物品2已被不正確地放置，則將考慮該下一 物品將被放置在該不正確地放置物品之旁邊。 譬如，假設該三物品2A、2B及2C將被彼此緊鄰地放 置於一盒子中或在一支座上。其係假設第一物品2a已被放 置在其位置中。該機械手丨現在緊鄰該第一物品2A安置第 二物品2B。在此之後，該感測器5被作動，以檢查該第二 物品2B之位置。如果其係接著發現該第二物品2b位在一 正確之位置，該操作係持續，而該第三物品2C被放置在一 正確之位置中。然而，如果其被發現該第二物品2b相對於 該第一物品2A橫側地位移，其係可能藉由將該第三物品2c 安置在原始意欲用於該第二物品2B之地點上補償此位移。 本發明之機械手可如此被用於放置複數彼此緊鄰之物品， 200938345 且藉由使用該感測器5,檢查已被如此放置的每一物品之位 置。基於先前放下之物品2的位置，其能接著決定將被放 下的下一物品應被放置之處。 #由使用-具有線性雷射器之感測器，其係可能獲得 •至該細節的距離之量測，此量測係不可能經過傳統之二維 技術。2-D㈤相機能於一平面（橫側地與垂直地）中達成债 測，而根據本發明，其係可能偵測離一用於抓取/抓握之 ❹正確位置的垂直偏差及深度中之偏差兩者。藉此，其係可 能有效地引導該機械手臂之握爪4至一正確之位置，以用 於抓取該將被抓取之物品。當該待抓取之物品係於一移動 之狀態中時，抓取係亦可能的。 ㈣該感測器5被配置在該機械手臂3本身上，該控 制大體上可被簡化。該控制單元不需得知用於該機械手臂3 或該物品2的φ夕__ ΑΑ -Γ -rrb· 八 的正確位置。能建立該機械手臂3 相對於該物品2之位置、亦即其關於彼此之相對位置係充 〇 因此，該工業機械手係被配置/程式設計成將被控 制，使彳于該機械手臂3及装姐 , 及其握爪4相對於待抓取物品之位 置抵達-預定位置，亦當該物品2正移動時。這導致一快 速及可靠之控制，當正移動 α 、 特別重要的。應了解物时將被抓取時，該控制係 機械手臂3之預定（相對）位置可為一 在由―理想位置之偏差在於-臨界値之下。 雖…、本發明已在上面參考—用於抓取物品之 :用於物品之搬運系統、及-用於抓取物品之方法敘：， 應了解這些範疇僅只反映 凌敘这 夂映冋-發明之不同態樣。因此，該 200938345 機械手及該搬運系統被設計成適於施行本發明之方法 該搬運系統包括根據本發明之機械手。 【圖式簡單說明】 圖1概要地顯示一機械手及一搬運系統。 圖2由另一透視觀點顯示一安裝在機械手臂3上之感 . 測器。 圖3顯示一意欲用在本發明中之感測器。 圖4概要地顯示工業機械手如何抓取/抓握一物纟。〇 圖5概要地顯示一安裝在可移動的機械手臂上之感測 器如何偵測待抓取之物品。 心、 圖6係圖5中之區域VI的放大圖。 . _田藉由本發明之機械手抓取一物品時，概要地及 原則上顯示控制順序的一部份。 【主要元件符號說明】 機械手 〇 物品 機械手臂 握爪 感測器 控制單元 外部殼體 線性雷射器 12 200938345 9 光學接收器 11 輸送帶 12 視野 13 凸緣 14 放大器 B 曲線 C 曲線 F 曲線 R 曲線 VI 區域 δ x 偏差 S y 偏差 ❿ 13The front material is connected to the conveyor belt and is configured to grab/grab the items. The robot includes a movable robot arm having a gripper and a sensor is disposed on the movable robot arm to connect the control unit to the control unit for controlling the robot arm The sensor includes a linear laser 'an optical receiver configured to receive the reflected laser light. The invention also further relates to methods for picking up articles that are carried in an industrial process. The method includes the use of a robot having a movable robot arm having a grip and a sensor disposed on the movable robot arm. The sensor is coupled to a control unit for controlling the movable robot arm. The sensor includes a linear laser and an optical receiver configured to receive reflected laser light. The method includes illuminating the object to be grasped with laser light from a linear laser of the sensor, and receiving laser light that has been reflected by the object to be grasped ασ in the optical receiver. The method further includes comparing the reflected laser light with a pre-defined reflection (pre-defined reflection) and displacing the robot to cook until the reflected laser light matches (consistent) to the pre-defined reflection. Finally, 'when the reflected laser light matches (consistently) to the reflection that has been previously defined by 5, 2009, 383, 005, the method includes the item being grabbed. The item to be grasped may be in a moving state. [Embodiment] Referring to Figures 1 and 4, the sentence cup of the present invention includes a robot 1 for grasping an article 2. The robot 1 can suitably be an industrial robot having a degree of freedom of . For example, the robot 1 can be and the right J Feng has an industrial robot with a shaft. The robot arm 3 and/or its gripper 4, t4 & low paw 4, are rotated around these axes in a manner known per se or along the axis <-, or one or several Linearly displaced. As indicated in Fig. 1, the stolen goods & 寻 寻 〇 α 2 may be articles transported by a conveyor belt. The robot 1 comprises a movable robot arm 3 having a gripper 4. On the movable robot arm 3, a sensor 5 is arranged. The sensor 5 is connected to a control unit 6 for controlling the robot arm. As best shown in Figure 3, the sensor 5 includes a linear laser 8 and an optical receiver 9 configured to receive reflected laser light. As shown in Fig. 3, the linear laser 8 and the optical receiver 9 can be disposed inside an outer casing 7, which protects the linear laser 8 from the optical receiver 9. In this regard, an example of a suitable linear laser 8 can be a LasirisTM SNF laser having a wave of 635 to 155 nanometers I' other components can also be used. Figure 2 shows a possible embodiment where the sensor 5 is arranged at the end of the robot arm 3. The gripper 4 can also be arranged at the end of the robot arm 3 such that the gripper 4 is fixed relative to the gripper 4. The 200938345 gripper 4 will then move with the sensor 5 such that the sensor 5 will always be in the exact same position relative to the gripper 4. The grip 4 can be, for example, a grip having a mechanical finger member, but there are other ways of implementing the grip 4. For example, the gripper 4 can be provided with a suction cup or a magnet. In Fig. 2, the robot arm 3 is shown without its gripper 4, but it should be understood that a gripper can be disposed on the mounting flange 13 of Fig. 2.线性 ❹ The linear laser 8 and the optical receiver 9 can be configured/guided relative to one another in different ways. In some implementations, the linear laser 8 and the optical receiver can be disposed at an angle relative to one another, the angle being between 10 and 65 degrees. After a practical test, when the angle is less than 1 degree, the inventors have found that the reliability of the measurement tends to decrease, and if the angle is 'greater than 65 degrees', the sensor becomes unnecessarily bulky. And no, however, where the angle is greater than 65 degrees, the specific embodiment is conceivable. For example, the angle is available to us. In the range of 9 degrees. Li Tongzhi's point of view b is used in the wide industrial process for the handling of items to be transported. 糸 Both views can also be understood by the hand and the conveyor belt U. The narrow/system includes the above-mentioned machinery. For example, the wheel belt u can be a conveyor belt. In the figure; he shows that the suspended item 2 in the arrow MM ώ wheel belt 11 is transported by the mechanical * 1 line with the dry ^ " | The article 2 carried by the conveyor belt; (2) is placed and is configured to grasp the forward conveyance of the belt 11. The function of the robot and the moon manipulator 1 is as follows. As shown in Fig. 1, 俨 = = 2 breaks the conveyor belt u & t ", the previously transported articles are on the conveyor belt 1" It will be mounted on the engine shaft of the camshaft. 7 200938345 However, the invention can of course be applied to any item in principle. When an item 2 to be grasped passes through the robot, the item 2 is illuminated by a linear laser 8 of the sensor 5, as shown in Figures 5 and 6. When the linear laser 8 illuminates the article 2, the laser light will form a curve B on the article 2, as shown in FIG. The laser light is reflected and received by the optical receiver 9 of the sensor 5. The optical receiver will then read a signal corresponding to the curve B. The optical receiver is coupled to a control unit that includes software that defines a virtual "field of view" 12. A reference curve c is programmed into the control unit 6 which may include a computer. The reference curve C corresponds to the expected shape of the curve B. One of the pre-defined points on the reference curve c is located at the center of the field of view 12 (in the middle of the crosshairs in Figure i). When the gripper 4 is in the correct position to grab an item 2, one of the pre-defined points of the read/detect curve B will also be at the center of the field of view 12. In other words, the curve B and the reference curve c will be identical. The pre-defined point may be, for example, a maximum or a minimum value on the curve B, or a midpoint of a curve formed by a straight line. The position of the item 2 is converted into a signal which is compared to the set value/rated value according to the reference curve c. When the item 2 is in a correct position relative to the grip 4, the position of the curve B read will coincide with the position for the reference curve c. In Fig. 1, the lateral deviation in the two-dimensional coordinate system is shown to be the distance between the article 2 and the sensor 5 since a laser is used. The deviation from the correct distance is indicated as the occupation in the figure. The control unit 6 converts the deviation sx from the set value into a mechanical + 1 , and changes the position of the robot 3 in this manner. 200938345 This approach eliminates or reduces these deviations to a value below one. The reflected laser light is thus compared to a pre-defined reflection and the robot f3 is moved/bit # until the reflected laser light is matched to the pre-defined reflection. Thus, a pre-defined reflection in the form of reference curve c is programmed into the control unit 6, and the control unit is designed to be adapted/programmed/configured to be comparable to what has been reflected by the item to be grabbed The laser light is reflected with the pre-defined. The machine arm 3 is then controlled to move until the reflected laser light matches (consistent) to the pre-defined reflection. The control unit 6 can include an amplifier 14 for amplifying the signal to the robot i for controlling the robot. As explained above, the control unit 6 is programmed to determine the depth deviation (distance) and the lateral deviation from the item 2 to be grasped, and correct the position of the robot arm 3 such that the deviations are eliminated. Or reduce to less than one. Thereafter, the item was grabbed. As shown in Fig. 1, the item 2 waiting to be grabbed may be in a state of being moved. For example, the items 2 may be suspended by a positively moving conveyor belt H^. In addition, the selection system is capable of grasping the movement of the conveyor belt U before the robot ι and allowing the robot 丨# to grasp the article, which is also schematically indicated in FIG. When the item being moved is grabbed, the positioning time to the correct position must be short. In Figure 7, a carefully considered case is shown where a swinging item will be grabbed. This curve F represents the pendulum movement of the item to be grasped, and the curve R represents the movement of the robot arm 3 with its gripper 4. As shown in Figure 7, the pendulum movement will quickly approach a condition where the arm 9 200938345 follows the item 2' so that it can grasp the item during its movement. What should be understood in the text is that the '13' 4 "correct position" will be captured and can be the position of the item 2 in the moving state. If the item 2 to be grasped is in a moving state, the movement is indicated by the control unit 6 guiding the machine 3 to follow only the item to be grasped. The robot of the present invention can also be Used for other purposes than grabbing different items. When the machine + 1 has grabbed an item, let the robot place the item 2 that has been grabbed in a box or at a predetermined stand (in the It may be appropriate to wait for the item 2 to be packaged or placed in the intermediate storage. When the robot has placed the item 2 at this location, the sensor 5 can be Used to read the location of the item 2. Then, if it has been confirmed that an item 2 has been placed incorrectly, it will be considered that the next item will be placed next to the incorrectly placed item. For example, suppose the three The items 2A, 2B and 2C will be placed in close proximity to one another in a box or on a seat. It is assumed that the first item 2a has been placed in its position. The robot hand is now placed next to the first item 2A. Second item 2B. After that, the sensor 5 is made Moving to check the position of the second item 2B. If the system then finds that the second item 2b is in the correct position, the operation continues and the third item 2C is placed in the correct position. If it is found that the second article 2b is laterally displaced relative to the first article 2A, it is possible to compensate for the displacement by placing the third article 2c at the location originally intended for the second article 2B. The robot of the present invention can be used to place a plurality of items in close proximity to each other, 200938345 and by using the sensor 5, the position of each item that has been placed is checked. Based on the position of the previously dropped item 2, It can then decide where the next item to be placed should be placed. #由使用-A sensor with a linear laser, which is likely to obtain a measure of the distance to the detail, this measurement is not It is possible to go through the traditional two-dimensional technology. The 2-D (five) camera can achieve the debt measurement in one plane (horizontally and vertically), and according to the invention, it is possible to detect the separation from one for grabbing/gripping. Vertical deviation of the correct position and Both of the deviations in the degree. Thereby, it is possible to effectively guide the gripper 4 of the robot arm to a correct position for grasping the item to be grasped. When the item to be grasped is The grasping system is also possible in a moving state. (4) The sensor 5 is disposed on the robot arm 3 itself, and the control can be substantially simplified. The control unit does not need to know the machine. The correct position of the arm 3 or the item φ __ ΑΑ - Γ - rrb · 八. The position of the robot arm 3 relative to the item 2, that is, its relative position with respect to each other, can be established. The industrial robot system is configured/programmed to be controlled so that the robot arm 3 and the slinger, and their gripper 4 arrive at a predetermined position relative to the position of the item to be grasped, and also when the item 2 is moving Time. This results in a fast and reliable control when moving alpha, which is especially important. It should be understood that when the object is to be grasped, the predetermined (relative) position of the control arm 3 can be one below the deviation from the "ideal position". Although, the present invention has been referred to above - for grasping articles: a handling system for articles, and a method for grasping articles: it should be understood that these categories only reflect Ling Xuan's Different aspects. Thus, the 200938345 robot and the handling system are designed to be suitable for carrying out the method of the invention. The handling system comprises a robot according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 schematically shows a robot and a handling system. Figure 2 shows, from another perspective view, a sensor mounted on the robot arm 3. Figure 3 shows a sensor intended for use in the present invention. Figure 4 shows schematically how an industrial robot can grab/grab a thing. 〇 Figure 5 shows schematically how a sensor mounted on a movable robotic arm detects the item to be grabbed. Heart, Figure 6 is an enlarged view of area VI in Figure 5. When the object of the present invention grabs an item, it schematically and in principle displays a part of the control sequence. [Main component symbol description] Manipulator 〇 Item Robot Arm gripper Control unit External housing Linear laser 12 200938345 9 Optical receiver 11 Conveyor belt 12 Field of view 13 Flange 14 Amplifier B Curve C Curve F Curve R Curve VI area δ x deviation S y deviation ❿ 13