ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD, AND PROGRAM

• Main Author: TERASAWA, Ryo
• Format: Patent
• Language: English; French; German
• Published: 03.05.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

Provided are an apparatus and a method that enable reliable execution of an object gripping process performed by a robot An overhead camera-based encompassing box that encompasses an object to be gripped included in an image captured by an overhead camera mounted on a robot and a hand camera-based encompassing box that encompasses the object to be gripped included in an image captured by a hand camera mounted on the robot are generated. Moreover, a relative position of a target gripping position of the object to be gripped with respect to the overhead camera-based encompassing box in the image captured by the overhead camera is calculated, the target gripping position with respect to the hand camera-based encompassing box in the image captured by the hand camera is calculated on the basis of the calculated relative position, and the calculated position is set as a corrected target gripping position of the object to be gripped included in the image captured by the hand camera. Moreover, control information for causing a hand of the robot to grip the corrected target gripping position in the image captured by the hand camera is generated, and a gripping process performed by the robot is executed.