Gripping apparatus and gripping apparatus control method
AssigneeCanon Kabushiki Kaisha
InventorsMasato Aoba, Masakazu Matsugu, Masafumi Takimoto
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Abstract
A gripping apparatus comprises an information acquisition unit (A 311, A315, A301) configured to acquire information about a position and orientation of an object (23) to be gripped by a gripper (12), a movement path generating unit (A610) configured to acquire a target state suitable for gripping the object, based on the acquired information, and generate a movement path of the gripper toward the target state, and a controller configured to move the gripper along the generated movement path and cause the gripper to grip the object.
Claims14
A gripping apparatus comprising:
- an information acquisition unit configured to acquire information about a position and orientation of an object to be gripped by a gripper;
- a movement path generating unit configured to acquire a target state suitable for gripping the object t, based on the acquired information, and generate a movement path of the gripper toward the target state;
- and
- a controller configured to move the gripper along the generated movement path and cause the gripper to grip the object.
A method for controlling a gripping apparatus, comprising:
- causing an information acquisition unit to acquire information about a position and orientation of an object to be gripped by a gripper;
- causing a movement path generating unit to acquire a target state suitable for gripping the object, based on the acquired information, and generate a movement path of the gripper toward the target state;
- and
- causing a controller to move the gripper along the generated movement path and causing the gripper to grip the object.
A computer-readable storage medium storing a computer program for causing a computer to function as:
- an information acquisition unit configured to acquire information about a position and orientation of an object to be gripped by a gripper;
- a movement path generating unit configured to acquire a target state suitable for gripping the object, based on the acquired information, and generate a movement path of the gripper toward the gripping target state;
- and
- a controller configured to move the gripper along the generated movement path and cause the gripper to grip the object.
Dependencies are inferred from the claim text.