Title:
DEVICE FOR TEACHING POSITION AND POSTURE FOR ROBOT TO GRASP WORKPIECE, ROBOT SYSTEM, AND METHOD
Document Type and Number:
WIPO Patent Application WO/2023/021703
Kind Code:
A1
Abstract:
Conventionally, there has been a need for technologies enabling highly-accurate teaching of a position at which a robot is made to grasp a workpiece by a hand. A device 100 includes: an image data acquisition unit 82 that acquires, when a robot 12 is grasping a workpiece by a hand, image data of the workpiece imaged by a visual sensor 14 disposed at a known position on a control coordinate system; a workpiece position acquisition unit 84 that acquires workpiece position data indicating a position and a posture of the workpiece on the basis of the image data; a hand position acquisition position 86 that acquires hand position data indicating a position and a posture of the hand obtained when the visual sensor has imaged the image data; and a teaching position acquisition unit 88 that acquires, on the basis of the workpiece position data and the hand position data, teaching position data indicating a positional relationship between the hand and the workpiece obtained when the visual sensor 14 has imaged the image data.
Inventors:
ANDO TOSHIYUKI (JP)
Application Number:
PCT/JP2021/030660
Publication Date:
February 23, 2023
Filing Date:
August 20, 2021
Export Citation:
Assignee:
FANUC CORP (JP)
International Classes:
B25J13/08
Domestic Patent References:
| WO2021145311A1 | 2021-07-22 |
Foreign References:
| JP6326765B2 | 2018-05-23 | |||
| JP5588089B1 | 2014-09-10 |
Attorney, Agent or Firm:
AOKI, Atsushi et al. (JP)
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