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2. 发明申请

US20110098859A1 ROBOT SYSTEM AND WORKPIECE PICKING METHOD 失效
标题翻译：机器人系统与工作取样方法
公开(公告)号：US20110098859A1
公开(公告)日：2011-04-28
申请号：US12911667
申请日：2010-10-25
申请人： Toshimitsu IRIE , Yukio Hashiguchi , Shinji Murai
发明人： Toshimitsu IRIE , Yukio Hashiguchi , Shinji Murai
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/37555 , G05B2219/40053 , G05B2219/40564
摘要： A robot system includes a robot. A robot control device is configured to control an operation of the robot, and includes a workpiece shape memory configure to store a shape of workpieces. A shape sensor is configured to detect shape information about the workpieces. A target workpiece detector is configured to detect a graspable workpiece based on the shape information detected by the shape sensor. A grasping information memory is configured to store a grasping position indicating which portion of the graspable workpiece is to be grasped by the robot. A grasping operation controller is configured to control the robot to grasp the graspable workpiece detected by the target workpiece detector and to pick the grasped workpiece. A disturbing operation controller is configured to control, if no graspable workpiece is detected by the target workpiece detector, the robot to perform a workpiece disturbing operation.
摘要翻译：机器人系统包括机器人。机器人控制装置被配置为控制机器人的操作，并且包括被配置为存储工件的形状的工件形状存储器。形状传感器被配置为检测关于工件的形状信息。目标工件检测器被配置为基于由形状传感器检测到的形状信息来检测可抓握的工件。握持信息存储器被配置为存储指示可抓握工件的哪个部分被机器人抓握的把持位置。抓握操作控制器被配置为控制机器人抓住由目标工件检测器检测到的可抓握工件并拾取被抓取的工件。如果没有被目标工件检测器检测到可抓握的工件，则机器人进行工件干扰操作。

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