Title:
METHOD FOR DETERMINING THREE−DIMENSIONAL POSITION AND POSTURE OF OBJECT BEING SENSED AND VISUAL SENSOR FOR ROBOT
Document Type and Number:
WIPO Patent Application WO/2003/039820
Kind Code:
A1
Abstract:
According to the invention, the need to develop a measuring algorithm for each object to measure the three−dimensional position and posture is obviated. By capturing a characteristic portion such as a circular column having a relatively simple shape of an object to be sensed, the center axis is found out by means of a three−dimensional sensor. A camera attached to the wrist of a manipulator is guided to the center axis to acquire a two−dimensional image of the object. The object in the two−dimensional image is compared with a model, and the angle of rotation is determined. Thus the three−dimensional position of the object is derived from the angle of rotation and the information on the operation of the manipulator.
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Inventors:
TAKAOKA KEIICHI (JP)
IRIE TOSHIMITSU (JP)
IRIE TOSHIMITSU (JP)
Application Number:
PCT/JP2002/011533
Publication Date:
May 15, 2003
Filing Date:
November 05, 2002
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
TAKAOKA KEIICHI (JP)
IRIE TOSHIMITSU (JP)
TAKAOKA KEIICHI (JP)
IRIE TOSHIMITSU (JP)
International Classes:
B25J19/04; B25J19/02; G06K9/32; G06T1/00; G06T7/00; G06T7/60; (IPC1-7): B25J19/04; B25J13/08; G01B11/00
Foreign References:
| JPH10124676A | 1998-05-15 | |||
| JPH07286820A | 1995-10-31 | |||
| JPH0425583B2 | 1992-05-01 | |||
| JP2001277167A | 2001-10-09 | |||
| JPS48100853A | 1973-12-19 |
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