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GRASPING POSITION AND ORIENTATION REGISTRATION DEVICE, GRASPING POSITION AND ORIENTATION REGISTRATION METHOD, AND PROGRAM
GRASPING POSITION AND ORIENTATION REGISTRATION DEVICE, GRASPING POSITION AND ORIENTATION REGISTRATION METHOD, AND PROGRAM
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机译:掌握位置和方向登记设备,掌握位置和方向登记方法,以及节目
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摘要
The rotation center is calculated (step S11). A gripping pattern is determined (step S12). The rotation axis is set to X-axis (step S13) of a tool coordinate system in response to the gripping pattern being a fan-shaped pattern, to Y-axis (step S14) in response to being a cylinder pattern, and to Z-axis (step S15) in response to being a circle pattern. A start angle θ_start is set as a rotation angle θ (step S16). The pose of a tool is calculated (step S17). The current pose is registered (step S18). The angle θ is changed by a predetermined angle of Δθ (step S19). Steps S17 to S19 are repeated until the angle θ reaches an end angle θ_end (step S20).
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