Robot Setting Apparatus, Robot Setting Method, Robot Setting Program, Computer Readable Recording Medium, And Apparatus Storing Program
AssigneeKeyence Corporation
InventorsMasato Shimodaira, Naoki Takayama, Ippei Yamauchi
Life of this patent
Estimating the term…
Abstract
A robot setting apparatus includes a positioning unit that adjusts a position and an attitude of a workpiece model, and a grip position specifying unit that specifies a grip position at which the workpiece model is gripped by an end effector for at least one fundamental direction image in a state of displaying at least three height images in which the workpiece model positioned by the positioning unit on the virtual three-dimensional space is viewed from respective axis directions of three axes orthogonal to each other on the display unit as fundamental direction images.
Claims16
A robot setting apparatus setting an operation of a robot performing a bin picking operation of sequentially taking out a plurality of workpieces stacked in a work space with an end effector provided at a tip of an arm portion of the robot, the robot setting apparatus comprising:
- a workpiece model registration unit that registers a workpiece model indicating a three-dimensional shape of a workpiece;
- a display unit that displays a workpiece model registered by the workpiece model registration unit;
- a positioning unit that locates a position and an attitude of the workpiece model on a virtual three-dimensional space displayed on the display unit;
- and
- a grip position specifying unit that displays at least three height images in which a workpiece model positioned by the positioning unit is viewed from respective axis directions of three axes orthogonal to each other on the virtual three-dimensional space on the display unit as fundamental direction images, and specifies a grip position at which a workpiece model indicated by at least one of the displayed fundamental direction images is gripped by an end effector for the fundamental direction image.
A robot setting method of setting an operation of a robot performing a bin picking operation of sequentially taking out a plurality of workpieces stacked in a work space with an end effector provided at a tip of an arm portion of the robot, the robot setting method comprising:
- a step of inputting a workpiece model indicating a three-dimensional shape of a workpiece;
- a step of displaying the input workpiece model on a display unit, and locating a position and an attitude of the workpiece model on a virtual three-dimensional space displayed on the display unit;
- and
- a step of displaying at least three height images in which a workpiece model positioned by the positioning unit is viewed from respective axis directions of three axes orthogonal to each other on the virtual three-dimensional space on the display unit as fundamental direction images, and specifying a grip position at which a workpiece model indicated by at least one of the displayed fundamental direction images is gripped by an end effector for the fundamental direction image.
A robot setting program for setting an operation of a robot performing a bin picking operation of sequentially taking out a plurality of workpieces stacked in a work space with an end effector provided at a tip of an arm portion of the robot, the robot setting program causing a computer to execute:
- a function of inputting a workpiece model indicating a three-dimensional shape of a workpiece;
- a function of displaying the input workpiece on a display unit, and locating a position and an attitude of the workpiece model on a virtual three-dimensional space displayed on the display unit;
- and
- a function of displaying at least three height images in which a workpiece model positioned by the positioning unit is viewed from respective axis directions of three axes orthogonal to each other on the virtual three-dimensional space on the display unit as fundamental direction images, and specifying a grip position at which a workpiece model indicated by at least one of the displayed fundamental direction images is gripped by an end effector for the fundamental direction image.
Dependencies are inferred from the claim text.