Robot system and computer program product
AssigneeKabushiki Kaisha Toshiba
InventorsAtsushi Sugahara, Hideichi Nakamoto
Life of this patent
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Abstract
A robot system includes a robot including a plurality of fingers for holding a target object and a control device configured to control a motion of the robot. The control device includes one or more processors. The processors acquire an image of a first target object and a second target object taken by an imaging device. The processors control the motion of the robot based on the image such that the robot moves the first target object with at least one finger included in the fingers in a direction in which a gap is formed between the first target object and the second target object, inserts at least one finger included in the fingers into the gap, and holds the first target object.
Claims10
A robot system comprising:
- a robot including a plurality of fingers for holding a target object;
- and
- a control device configured to control a motion of the robot, wherein the control device comprises:
- one or more processors configured to
- acquire an image of a first target object and a second target object taken by an imaging device, and
- control the motion of the robot based on the image such that the robot moves the first target object with at least one finger included in the plurality of fingers in a direction in which a gap is formed between the first target object and the second target object, inserts at least one finger included in the plurality of fingers into the gap, and holds the first target object,
- wherein the robot comprises:
- a first finger having a telescopic mechanism, a second finger having a telescopic mechanism, and a third finger having no telescopic mechanism, and
- a driver configured to change a space between the first finger and the second finger, and
- the one or more processors move the first target object by changing a position of the third finger brought into contact with the first target object, insert the first finger into the gap, and control the driver such that the first target object is held with the first finger and the second finger.
A computer program product having a non-transitory computer readable medium including programmed instructions, wherein the instructions, when executed by a computer included in a control device configured to control a motion of a robot including a plurality of fingers for holding a target object, cause the computer to perform:
- acquiring an image of a first target object and a second target object taken by an imaging device;
- and
- controlling the motion of the robot based on the image such that the robot moves the first target object with at least one finger included in the plurality of fingers in a direction in which a gap is formed between the first target object and the second target object, inserts at least one finger included in the plurality of fingers into the gap, and holds the first target object,
- wherein the robot comprises
- a first finder having a telescopic mechanism, a second finder having a telescopic mechanism, and a third finder having no telescopic mechanism, and
- a driver configured to change a space between the first finder and the second finder, and
- the instructions further cause the computer to perform
- moving the first target object by changing a position of the third finger brought into contact with the first target object,
- inserting the first finger into the gap, and
- controlling the driver such that the first target object is held with the first finger and the second finger.
Dependencies are inferred from the claim text.