Workpiece Pick-Up Apparatus Dynamic Gripping Position

The patent applies dynamics by making the gripping position determination adaptive rather than static. The system dynamically adjusts the number of candidates to evaluate based on the actual spatial distribution of workpieces detected by the sensor. When workpieces are densely packed, more candidates are considered; when they are sparse, fewer candidates are needed. This dynamic adaptation resolves the contradiction by optimizing calculation time while maintaining gripping reliability through context-aware candidate selection.

The system changes the parameter of candidate quantity based on workpiece configuration. Instead of using a fixed large number of candidates in all situations, the patent modifies the number of candidates evaluated according to the detected workpiece arrangement. This parameter change allows the system to reduce calculation time in simple cases while maintaining reliability in complex cases, effectively resolving the technical contradiction.

The patent applies universality by creating a hand model with universal features that can be applied across different hand profiles. Instead of requiring separate segmentation and priority assignment for each hand, the system uses universal hand features (fingers, palm, wrist positions) that work for all hand types. This universal approach maintains gripping accuracy while dramatically reducing the complexity of data preparation, as the same universal model serves multiple hand configurations.

The system uses copying by creating a virtual hand model that replicates the essential geometric features of the actual hand. This virtual model is then used for all gripping calculations regardless of the specific hand profile. By copying the functional geometry rather than storing detailed profiles for each hand, the system achieves accurate gripping position determination without the labor-intensive process of separate segmentation and priority assignment for each hand type.