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Gripping candidate elected position equipment, grip candidate position method for selecting, gripping route generation device, and gripping route generation method
Gripping candidate elected position equipment, grip candidate position method for selecting, gripping route generation device, and gripping route generation method
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机译:抓握候选选择位置设备,用于选择的抓握候选位置方法,抓握路径生成装置以及抓握路径生成方法
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摘要
PROBLEM TO BE SOLVED: To provide a gripping candidate position selecting device capable of shortening time required for teaching work.;SOLUTION: This gripping candidate position selecting device has a normal vector calculating means for respectively calculating a normal vector to a plurality of shape pieces of constituting a shape model of a work, and a candidate position selecting means for selecting a pair of shape pieces of setting the inner product of the calculated normal vector to a threshold value or less, and allowing a distance up to the other shape piece from a normal of one shape piece to fall within an allowable range, from the plurality of shape pieces, as a gripping candidate position by a robot hand.;COPYRIGHT: (C)2009,JPO&INPIT
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