GRIPPING CANDIDATE POSITION SELECTING DEVICE, GRIPPING CANDIDATE POSITION SELECTING METHOD, GRIPPING PASSAGE FORMING DEVICE AND GRIPPING PASSAGE FORMING METHOD

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