System, method, and program for generating three-dimension model
AssigneeToyota Jidosha Kabushiki Kaisha
InventorTakuya Ikeda
Life of this patent
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Abstract
A system, a method, and a program for generating a three-dimensional model are provided. A system for generating a three-dimensional model according to an embodiment includes an end effector including a flexible grip part for gripping an object, a deformation sensor configured to detect a deformed shape of the grip part in a state of gripping the object, a calculation unit configured to calculate a normal direction of a surface of the object from surface shape data of the object, a decision unit configured to decide a grip position of the object to be gripped by the end effector based on the normal direction, and a coordinate system setting unit configured to set a reference coordinate system according to the deformed shape of the grip part.
Claims15
A system for generating a three-dimensional model comprising:
- an end effector including a flexible grip part for gripping an object;
- a deformation sensor configured to detect a deformed shape of the grip part in a state of gripping the object;
- and
- a processor configured to execute a program to:
- calculate a normal direction of at a plurality of points on a surface of the object based on surface shape data of the object,
- set a grip position at which the end effector grips the object based on an amount of deviation in the normal direction among the plurality of points, and
- set a reference coordinate system according to the deformed shape of the grip part.
A method for generating a three-dimensional model comprising:
- calculating a normal direction at a plurality of points on a surface of an object according to surface shape data of the object;
- setting a grip position at which an end effector grips the object based on an amount of deviation in the normal direction among the plurality of points;
- gripping, by an end effector including a flexible grip part, the object at the grip position;
- detecting a deformed shape of the grip part when the object is gripped;
- and
- setting a reference coordinate system according to the deformed shape of the grip part.
A non-transitory computer readable medium storing a program for causing at least one computer to execute:
- calculating a normal direction at a plurality of points on a surface of an object according to surface shape data of an object;
- setting a grip position at which an end effector grips the object based on an amount of deviation in the normal direction among the plurality of points;
- controlling an end effector so that the end effector including a flexible grip part grips the object at the grip position;
- acquiring deformed shape data obtained by detecting a deformed shape of the grip part when the object is gripped;
- and
- setting a reference coordinate system according to the deformed shape of the grip part.
Dependencies are inferred from the claim text.