GRIPPING POSITION AND ATTITUDE DETERMINATION SYSTEM AND METHOD OF DETERMINING GRIPPING POSITION GRIPPING ATTITUDE

摘要

PROBLEM TO BE SOLVED: To maximally prevent a gripping position and a gripping attitude from coming out of the movable ranges of an arm and a hand.;SOLUTION: This method of determining a gripping position and a gripping attitude comprises the steps of: determining whether the gripping position and the gripping attitude of an object to be gripped come out of the movable range of the arm having at least two joints and a gripping mechanism attached to the end of the arm according to the position and the attitude of the object to be gripped, measured by a position and attitude measuring sensor, and to object shape information stored in a database; calculating whether there is a gripping position and a gripping attitude corrected within the movable ranges of the arm and the gripping mechanism by correcting the gripping position and the gripping attitude when the gripping position and the gripping attitude come out of the movable ranges of the arm and the gripping mechanism; and controlling the arm and the gripping mechanism so that the gripping position and the gripping attitude are brought into the corrected gripping position and the gripping attitude when there is the corrected gripping position and corrected gripping attitude.;COPYRIGHT: (C)2009,JPO&INPIT