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AssigneesToyoda Koki Kabushiki Kaisha, Toyota Jidosha Kabushiki Kaisha
InventorsAkira Shimokoshi, Osamu Matsuda, Toshio Matsumura, Fumihiko Komuro
Estimating the term…
A robot system for taking out workpieces from a box using a robot having a floating hand and a workpiece recognition apparatus. The workpiece recognition apparatus detects the position and inclination of a selected workpiece, and calculates a target position and a desired inclined posture of the hand. The posture is so decided that a line of intersection of the floating plane of the hand with a vertical plane containing the longitudinal axis of the workpiece, becomes parallel to a horizontal direction, and the center axis of the wrist portion becomes perpendicular to the line of intersection. Data indicating the target position and the desired inclined posture are transmitted to the robot controller of the system, so that the controller drives the servomotors of the robot in such a way that the hand moves toward the target position with a desired inclined posture. With this operation, the hand contacts with the selected workpiece at a predetermined position to pick up the workpiece.
A method for picking up a workpiece with a robot having a hand which is supported on a wrist portion of said robot for freely swinging movement in only one floating plane, said method comprising steps of:
A method for picking up a cylindrical workpiece, whose longitudinal axis is parallel to a horizontal direction, using a workpiece recognition apparatus and a robot having a hand which is supported on a wrist portion of said robot for freely swinging movement in only one floating plane, said method comprising steps of:
An apparatus for controlling a robot having a floating hand to pick up a workpiece, wherein said hand is freely swingable in only one floating plane, said apparatus comprising:
Dependencies are inferred from the claim text.