Hold position determination device and hold position determination method
AssigneeKYOCERA Corporation
InventorRyota DOI
Life of this patent
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Abstract
A holding position determination device includes a control unit that determines the position where an end effector adapted to hold a holding target contacts the holding target as a holding position. The control unit acquires an end effector model that identifies an area where a holding portion of the end effector can exist. The control unit acquires a rule map that includes a map defining the position of the holding target to be held by the end effector based on an image of holding target obtained by photographing the holding target. The control unit determines the holding position based on the end effector model and the rule map.
Claims17
A holding position determination device comprising:
- a control unit configured to determine a position where an end effector adapted to hold a holding target contacts the holding target as a holding position,
- the control unit further configured to
- acquire an end effector model that identifies an area where a holding portion of the end effector can exist,
- acquire a rule map that includes a map defining the position of the holding target to be held by the end effector based on an image of holding target obtained by photographing the holding target, and
- determine the holding position based on the end effector model and the rule map.
A holding position determination method, comprising:
- acquiring, by a holding position determination device that determines the position where an end effector adapted to hold a holding target contacts the holding target as a holding position, an end effector model that identifies an area where a holding portion of the end effector can exist;
- acquiring, by the holding position determination device, a rule map that includes a map defining the position of the holding target to be held by the end effector based on an image of holding target obtained by photographing the holding target;
- and
- determining, by the holding position determination device, the holding position based on the end effector model and the rule map.
Dependencies are inferred from the claim text.