Title:
ROBOT AND CONTROL METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2017/017710
Kind Code:
A1
Abstract:
Provided are a robot (1) and a control method therefor with which workpiece removal work can be easily achieved without disposing a dedicated jig or device and without providing an advanced visual recognition system and performing a complicated control. The robot (1) is provided with: a first arm (3) having a first end (5) provided on the distal end thereof and at least one joint shaft (A1) provided between a base (2) and the first end (5); a first action part (7) provided on the first end (5) for contacting a specified platform (13) on which multiple workpieces can be loaded; a control unit (14); an imaging unit (18) for two-dimensionally imaging the workpiece loading surface of the platform (13) from a vertical direction thereof; and a recognition unit for recognizing a workpiece position by performing two dimensional pattern matching from a two dimensional image taken by the imaging unit (18). The control unit (14) jars the platform (13) by controlling the first arm (3) so as to cause the first action part (7) to act on the platform (13).
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Inventors:
ONO SEITA
XU TIANFEN
MATSUOKA JUNICHI
KOKUSHI HIROKI
XU TIANFEN
MATSUOKA JUNICHI
KOKUSHI HIROKI
Application Number:
PCT/JP2015/003847
Publication Date:
February 02, 2017
Filing Date:
July 30, 2015
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J13/08
Domestic Patent References:
| WO2011081198A1 | 2011-07-07 |
Foreign References:
| JP2012051056A | 2012-03-15 | |||
| JP2011000685A | 2011-01-06 | |||
| JP2012171027A | 2012-09-10 | |||
| JP2012240133A | 2012-12-10 | |||
| JP2013100118A | 2013-05-23 | |||
| JP2005046966A | 2005-02-24 | |||
| JPH0957543A | 1997-03-04 |
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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