CONTROL DEVICE AND METHOD FOR A ROBOT SYSTEM

• Main Authors: PEDRO, Osemwaro, DEACON, Graham
• Format: Patent
• Language: English
• Published: 10.06.2021
• Subjects: CALCULATING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; COMPUTING; CONVEYING; COUNTING; HAND TOOLS; HANDLING THIN OR FILAMENTARY MATERIAL; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MANIPULATORS; PACKING; PERFORMING OPERATIONS; PHYSICS; PNEUMATIC TUBE CONVEYORS; PORTABLE POWER-DRIVEN TOOLS; SHOP CONVEYOR SYSTEMS; STORING; TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING ORTIPPING; TRANSPORTING

A control device is provided to reliably locate objects and calculate appropriate grasp points for each object to thereby effectively control a robot system. grasp point calculation is based on, at least, properties of a surface of the object to be grasped by the robot system to more effectively calculate a grasp point for the surface of the object. An organised point cloud generator and a robot system having a suction cup end are to generate an organised point cloud of a storage. The robot system can grasp the object from the storage means. Normals of the organised point cloud and principal curvatures of the organised point cloud can be calculated. A grasp point can be calculated for the suction cup end effector of the robot system to grasp an object based on the organised point cloud, the calculated normal, the calculated principal curvatures, and a normal of a lower surface of the storage.