Title:
REGION-BASED GRASP GENERATION
Document Type and Number:
Japanese Patent JP2023120149
Kind Code:
A
Abstract:
To provide a region-based robotic grasp generation technique for machine tending or bin picking applications.SOLUTION: Part and gripper geometry are provided as inputs, typically from CAD files, along with gripper kinematics. A human user defines one or more target grasp regions on the part, using a graphical user interface displaying the part geometry. The target grasp regions are identified by the user based on the user's knowledge of how the part may be grasped to ensure that the part can be subsequently placed in a proper destination pose. For each of the target grasp regions, an optimization solver is used to compute a plurality of quality grasps with stable surface contact between the part and the gripper, and no part-gripper interference. The computed grasps for each target grasp region are placed in a grasp database which is used by a robot in actual bin picking operations.SELECTED DRAWING: Figure 2
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Inventors:
FAN YONGXIANG
TSAI CHI-KENG
KATO TETSURO
TSAI CHI-KENG
KATO TETSURO
Application Number:
JP2023001042A
Publication Date:
August 29, 2023
Filing Date:
January 06, 2023
Export Citation:
Assignee:
FANUC LTD
International Classes:
B25J13/00
Attorney, Agent or Firm:
Atsushi Aoki
Shinji Mihashi
Shigeki Hirose
Hidehiro Oyama
Shinji Mihashi
Shigeki Hirose
Hidehiro Oyama