US Patent No. 9,050,722

PICKUP DEVICE CAPABLE OF DETERMINING HOLDING POSITION AND POSTURE OF ROBOT BASED ON SELECTION CONDITION


Patent No. 9,050,722
Issue Date June 09, 2015
Title Pickup Device Capable Of Determining Holding Position And Posture Of Robot Based On Selection Condition
Inventorship Taiga Satou, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 9,050,722

1. A pickup device for picking up a target object from a plurality of objects, comprising:
a robot equipped with a tool adapted to hold the target object;
a sensor for measuring positions and postures of the plurality of objects;
a reference holding position and posture storing unit for storing a reference holding position and posture which serve as
a reference for a position and posture of the robot relative to the target object when the robot holds the target object by
the tool;

a holding position and posture modification range storing unit for storing a holding position and posture modification range
which corresponds to a range of modification which can be applied to the reference holding position and posture so as to hold
the target object by the tool;

a holding position and posture calculating unit for calculating a holding position and posture of the robot in which the robot
can hold the target object by the tool, based on the position and posture of the target object measured by the sensor and
on the reference holding position and posture;

a selection condition storing unit for storing at least one selection condition, based on which priority of the holding position
and posture of the robot can be determined; and

a holding position and posture selecting unit for selecting one of the holding positions and postures of the robot in accordance
with the priority determined by the selection condition, the holding positions and postures of the robot being obtained from
the holding position and posture calculated by the holding position and posture calculating unit and from the holding position
and posture modification range.