Object pick-up system and method for picking up stacked objects
AssigneeFanuc Corporation
InventorTadanori SUZUKI
Life of this patent
Estimating the term…
Abstract
An object pick-up system able to use a simpler configuration to place picked up objects at a predetermined location with the directions of the picked up objects aligned. The object pick-up system is provided with a robot hand, manipulator, vision sensor, arrangement determination part setting the position and posture of the robot hand when gripping an object, manipulator controller controlling the manipulator, and robot hand controller controlling the robot hand. The manipulator controller places the robot hand at a position and posture giving rise to a moment in the object. The robot hand controller prevents an object from dropping from the robot hand while the object is rotated by the action of gravity.
Claims7
An object pick-up system for picking up stacked objects, the object pick-up system comprising:
- a robot hand able to grip an object;
- a manipulator which moves the robot hand;
- a vision sensor able to detect a position and posture of the object;
- an arrangement determination part which determines a position and posture of the robot hand when the robot hand grips the object based on the position and posture of the object detected by the vision sensor;
- a manipulator controller which controls the manipulator so as to arrange the robot hand at the position and posture of the robot hand determined by the arrangement determination part;
- and
- a robot hand controller which controls the robot hand so as to grip the object, wherein
- the manipulator controller controls the manipulator so as to arrange the robot hand at a position and posture in which a moment is generated at the object when the robot hand gripping the object lifts up the object, wherein
- the robot hand controller controls the robot hand so as to allow the object to rotate relative to the robot hand by the action of gravity while preventing the object from dropping from the robot hand, when the robot hand is arranged at the position and posture in which the moment is generated at the object.
A method of gripping and picking up stacked objects by a robot hand, the method comprising:
- detecting a position and posture of an object;
- determining a position and posture of the robot hand when the robot hand grips the object based on the detected position and posture of the object;
- arranging the robot hand at the determined position and posture of the robot hand;
- gripping the object by the robot hand;
- arranging the robot hand at a position and posture in which a moment is generated at the object when the robot hand gripping the object lifts up the object;
- and
- rotating the object relative to the robot hand by the action of gravity while preventing the object from dropping from the robot hand, when the robot hand is arranged at the position and posture in which the moment is generated at the object.
Dependencies are inferred from the claim text.