DEVICE FOR GENERATING TRACK FOR GRIPPING MECHANISM, METHOD FOR GENERATING TRACK FOR GRIPPING MECHANISM, PROGRAM FOR GENERATING TRACK FOR GRIPPING MECHANISM, RECORDING MEDIUM AND ROBOT PROGRAM CREATING DEVICE

• Main Authors: ONISHI HIROYUKI, SAKURAI KOJI
• Format: Patent
• Language: English
• Published: 09.12.2013
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

PROBLEM TO BE SOLVED: To provide a technology that can efficiently generate a track on which a gripping mechanism 25 which grips an object 5 is moved to convey the object 5.SOLUTION: In order to convey an object 5 which satisfies a specified positional relationship to a TCP 6 of a gripping mechanism using the gripping mechanism 25 that grips the object 5, a track on which the gripping mechanism 25 is moved is generated. A pre-conveyance reference point 9 for the object 5 is set at the position of the TCP 6 when the pre-conveyance object 5 is gripped by the gripping mechanism 25 and a post-conveyance reference point 8 for the object is set at the position of the TCP 6 when the post-conveyance object 5 is gripped by the gripping mechanism 25. A track for the gripping mechanism 25 is generated by computation so that the TCP 6 moves from the pre-conveyance reference point 9 to the post-conveyance reference point 8. In order to generate the track of the gripping mechanism 25 with such a configuration, only the reference points 9, 8 for the object 5 need be set and there is no need to confirm the movement of the gripping mechanism 25 with a video.