GRASPING APPARATUS, LEARNING APPARATUS, LEARNED MODEL, GRASPING SYSTEM, DETERMINATION METHOD, AND LEARNING METHOD

A grasping apparatus 1 includes: an image data acquisition unit 16; a robot arm 11; a control unit 12; and a grasping position determination unit 18 configured to determine, using the image data of photographed flexible objects in a folded and stacked state that is acquired by the image data acquisi...

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Bibliographic Details
Main Authors DEMURA, Satonori, SANO, Kazuki, YAMAZAKI, Kimitoshi, NAKAJIMA, Wataru, TAKESHITA, Keisuke
Format Patent
LanguageEnglish
Published 20.06.2019
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:A grasping apparatus 1 includes: an image data acquisition unit 16; a robot arm 11; a control unit 12; and a grasping position determination unit 18 configured to determine, using the image data of photographed flexible objects in a folded and stacked state that is acquired by the image data acquisition unit 16, whether or not a part of the flexible objects in that image data is suitable for being grasped. The control unit 12 controls the robot arm 11 so as to deform ends of a top surface of the flexible object at the top of the stacked flexible objects. The grasping position determination unit 18 determines whether or not a part is suitable for being grasped using the image data of the photographed flexible object the ends of the top surface of which have been deformed.
Bibliography:Application Number: US201816214556