ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD, AND PROGRAM

Title:

ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD, AND PROGRAM

Document Type and Number:

WIPO Patent Application WO/2022/014312

Kind Code:

A1

Abstract:

Provided are a device and a method for enabling reliable execution of grasping processing for an object by a robot. In this invention, there are generated an overlooking-camera reference containing box containing an object to be grasped contained in a captured image by an overlooking camera mounted to a robot and a hand-end camera reference containing box containing the object to be grasped contained in a captured image of a hand-end camera mounted to the robot. Moreover, there is calculated a relative position of a target grasping position of the object to be grasped with respect to the overlooking-camera reference containing box in the captured image by the overlooking camera, there is calculated a target grasping position with respect to the hand-end camera reference containing box in the captured image by the hand-end camera on the basis of the calculated relative position, and the calculated position is set to a corrected target grasping position of the object to be grasped contained in the captured image by the hand-end camera. Further, there is generated control information for causing a hand of the robot to grasp the corrected target grasping position in the captured image by the hand-end camera to cause the robot to execute grasping processing.

Inventors:

TERASAWA RYO (JP)

Application Number:

PCT/JP2021/024349

Publication Date:

January 20, 2022

Filing Date:

June 28, 2021

Export Citation:

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Assignee:

SONY GROUP CORP (JP)

International Classes:

B25J13/08

Foreign References:

JP2005169564A	2005-06-30
JP2009269110A	2009-11-19
JPH0926812A	1997-01-28
JP2007319938A	2007-12-13
JP2013184257A	2013-09-19

Other References: