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Title:
GRASPING POSITION AND ORIENTATION REGISTRATION DEVICE, GRASPING POSITION AND ORIENTATION REGISTRATION METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2020/188660
Kind Code:
A1
Abstract:
In the present invention, a rotation center is calculated (step S11), a grasping pattern is determined (step S12), and when the grasping pattern is a fan-shaped pattern, a cylindrical pattern, or a circular pattern, a rotation axis is set as an X-axis (step S13), a Y-axis (step S14), and a Z-axis (step S15) in a tool coordinate system. A rotation angle θ is set as starting angle θ_start (step S16), a tool position and orientation is calculated (step S17), and the current position and orientation is registered (step S18). θ is changed by a predetermined Δθ only (step S19), and steps S17 to S19 of the process are repeated until θ_end is reached (step S20).

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Inventors:
NISHINA YUKI (JP)
Application Number:
PCT/JP2019/010976
Publication Date:
September 24, 2020
Filing Date:
March 15, 2019
Export Citation:
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Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
B25J9/22
Domestic Patent References:
WO2015178377A12015-11-26
Foreign References:
JP2009214212A2009-09-24
JP2012206219A2012-10-25
JP2015085475A2015-05-07
JP2014240106A2014-12-25
JP5888591B22016-03-22
JPS4835616B11973-10-29
Other References:
See also references of EP 3831546A4
Attorney, Agent or Firm:
IP FIRM SHUWA (JP)
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