Title:
DEVICE FOR ACQUIRING POSITION OF WORKPIECE, CONTROL DEVICE, ROBOT SYSTEM, AND METHOD
Document Type and Number:
WIPO Patent Application WO/2023/157083
Kind Code:
A1
Abstract:
For example, when a workpiece is large, the workpiece may not fit within the detection range of a shape detection sensor. For such cases, there is a demand for a technique to acquire the position of the workpiece. A device 50 comprises: a model acquisition unit 44 that acquires a workpiece model representing a modeled workpiece; a partial model generation unit 46 that generates, using the workpiece model acquired by the model acquisition unit 44, a partial model representing a limited part of the workpiece model; and a position acquisition unit 48 that matches the partial model generated by the partial model generation unit 46 with shape data detected by a shape detection sensor 14 to acquire the position, in a control coordinate system, of the portion of the workpiece corresponding to the partial model.
Inventors:
WADA JUN (JP)
Application Number:
PCT/JP2022/005957
Publication Date:
August 24, 2023
Filing Date:
February 15, 2022
Export Citation:
Assignee:
FANUC CORP (JP)
International Classes:
B25J13/08; B25J19/04
Foreign References:
| JP2019089172A | 2019-06-13 | |||
| JP2006102877A | 2006-04-20 | |||
| JP2002046087A | 2002-02-12 | |||
| JP2017182113A | 2017-10-05 | |||
| JP2019051585A | 2019-04-04 | |||
| US20200008874A1 | 2020-01-09 |
Attorney, Agent or Firm:
AOKI, Atsushi et al. (JP)
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