Pickup device capable of determining holding position and posture of robot based on selection condition

Abstract

The invention relates to a pickup device capable of determining the holding position and posture of a robot based on a selection condition. The pickup device includes a robot for holding a target object, a sensor for measuring a position / posture of an object, a first storing unit for storing a reference holding position / posture, a second storing unit for storing a holding position / posture modification range, a calculating unit for calculating a holding position / posture of the robot based on the position / posture of the target object and the reference holding position / posture, a third storing unit for storing a selection condition determining priority of the holding position / posture, and a selecting unit for selecting a holding position / posture of the robot, based on the priority determined by the selection condition, among the holding positions / postures of the robot obtained from the holding position / posture of the robot and the holding position / posture modification range.

Description

technical field [0001] The present invention relates to an article take-out device that measures the position and posture of an article by a sensor, and uses the measurement result to control a robot to take out a target article. Background technique [0002] In a known article take-out device in which a robot takes out an article, the position and posture of a robot capable of holding the article relative to the article are set in advance as a reference position and posture. Then, the position and orientation of the robot holding the item are calculated based on the position and orientation of the item measured by the sensor and the reference position and orientation. According to such a take-out device, it is possible to take out an article in an arbitrary position and posture by a robot. [0003] JP-B-3782679 discloses the following information: When calculating the position and posture of a robot for taking out an object, the range of the position and posture of the rob...

AI Technical Summary

Problems solved by technology

[0005] In such a conventional article take-out device, there are the following problems due to the difference in the position and posture of the article: (1) The position and posture of the robot for holding the weighed article may deviate from the robot's operating range, (2) ) Sometimes the time required to move the robot to the predetermined position and posture in order to hold the object increases greatly, or (3) Sometimes the tool or the robot body mounted on the hand or wrist of the robot becomes easy to collide with surrounding obstacles interfering gesture

However, when taking out items sequentially from the loaded multiple items, the proportion of items with low priority increases when the taking-out process is repeated

In this case, the reduction of tact time or the stabilization of the transfer process cannot be achieved

Like this, there is such a problem in the known technology described in JP-A-2012-055999: permanent effect cannot be obtained

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