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

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-...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
1. Verfasser: Nishina, Yuki
Format: Patent
Sprache:eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Beschreibung
Zusammenfassung: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).