Title:
【発明の名称】ロボット制御装置
Document Type and Number:
Japanese Patent JP3064348
Kind Code:
B2
Abstract:
A robot system for taking out workpieces from a box using a robot having a floating hand and a workpiece recognition apparatus. The workpiece recognition apparatus detects the position and inclination of a selected workpiece, and calculates a target position and a desired inclined posture of the hand. The posture is so decided that a line of intersection of the floating plane of the hand with a vertical plane containing the longitudinal axis of the workpiece, becomes parallel to a horizontal direction, and the center axis of the wrist portion becomes perpendicular to the line of intersection. Data indicating the target position and the desired inclined posture are transmitted to the robot controller of the system, so that the controller drives the servomotors of the robot in such a way that the hand moves toward the target position with a desired inclined posture. With this operation, the hand contacts with the selected workpiece at a predetermined position to pick up the workpiece.
Inventors:
Akira Shimoetsu
Osamu Matsuda
Hisao Matsumura
Fumihiko Komuro
Osamu Matsuda
Hisao Matsumura
Fumihiko Komuro
Application Number:
JP20541890A
Publication Date:
July 12, 2000
Filing Date:
August 02, 1990
Export Citation:
Assignee:
Toyota Koki Co., Ltd.
TOYOTA JIDOSHA KABUSHIKI KAISHA
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B25J13/08; B25J9/06; B25J9/16; B25J9/18; B25J17/02; G05B19/18; G05B19/19; G05B19/408; G05B19/4093; G05D3/12; (IPC1-7): B25J13/08; B25J9/06; B25J17/02; G05B19/19; G05D3/12
Domestic Patent References:
| JP59173591A | ||||
| JP63795A | ||||
| JP6232083A |