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
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...
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Main Authors | , |
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Format | Patent |
Language | English |
Published |
09.12.2013
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Subjects | |
Online Access | Get full text |
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Summary: | 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. |
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Bibliography: | Application Number: JP20120119785 |