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US 8,862,267 B2Granted
Gripping apparatus and gripping apparatus control method
AssigneeCanon Kabushiki Kaisha
InventorsMasato Aoba, Masakazu Matsugu, Masafumi Takimoto
Life of this patent
Estimating the term…
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.
Claims13
An apparatus comprising:
- a first obtaining unit configured to obtain an image of an object in a state where the object held by a holding unit is in front of an interface unit and is not inserted into the interface unit;
- a storing unit configured to store a first model of the object and a second model of the interface unit;
- a second obtaining unit configured to obtain a relative position and orientation between the object and the interface unit based on the first model, the second model and the obtained image;
- a calculating unit configured to calculate a first position and orientation of the object and a second position and orientation of the object based on the obtained relative position and orientation of the object, wherein the first position and orientation corresponding to a condition that a portion of the object is obliquely inserted in the interface unit, the second position and orientation corresponding to a condition that the object has been inserted in the interface unit;
- a movement path generating unit configured to generate a movement path which is from a position and orientation of the object held by a holding unit in a state where the object is in front of an interface unit and is not inserted into the interface unit, to the second position and orientation through the first position and orientation of the object;
- and
- a controller configured to move the holding unit along the generated movement path.
4 more elements
A method for controlling an apparatus, comprising:
- obtaining an image of an object in a state where the object held by a holding unit is in front of an interface unit and is not inserted into the interface unit;
- storing a first model of the object and a second model of the interface unit;
- obtaining a relative position and orientation between the object and the interface unit based on the first model, the second model and the obtained image;
- calculating a first position and orientation of the object and a second position and orientation of the object based on the obtained relative position and orientation of the object, wherein the first position and orientation corresponding to a condition that a portion of the object is obliquely inserted in the interface unit, the second position and orientation corresponding to a condition that the object has been inserted in the interface unit;
- generating a movement path which is from a position and orientation of the object held by a holding unit in a state where the object is in front of an interface unit and is not inserted into the interface unit, to the second position and orientation through the first position and orientation of the object;
- and
- moving the holding unit along the generated movement path.
4 more elements
A non-transitory computer-readable storage medium storing a computer program for causing a computer to function as:
- a first obtaining unit configured to obtain an image of an object in a state where the object held by a holding unit is in front of an interface unit and is not inserted into the interface unit;
- a storing unit configured to store a first model of the object and a second model of the interface unit;
- a second obtaining unit configured to obtain a relative position and orientation between the object and the interface unit based on the model, the second model and the obtained image;
- a calculating unit configured to calculate a first position and orientation of the object, and a second position and orientation of the object based on the obtained relative position and orientation of the object, wherein the first position and orientation corresponding to a condition that a portion of the object is obliquely inserted in the interface unit, the second position and orientation corresponding to a condition that the object has been inserted in the interface unit;
- a movement path generating unit configured to generate a movement path which is from a position and orientation of the object held by a holding unit in a state where the object is in front of an interface unit and is not inserted into the interface unit, to the second position and orientation through the first position and orientation of the object;
- and
- a controller configured to move the holding unit along the generated movement path.
4 more elements
Dependencies are inferred from the claim text.