Estimating workpiece pose using the feature points method

Details Estimating workpiece pose using the feature points method Estimating workpiece pose using the feature points method

1980-09-25

1983-08-30

Ruggiero, Joseph F.

Boots, shoes, and leggings

358903, 364478, 414730, G06F 1546

Patent

active

044020538

ABSTRACT:
A robot assembly for acquiring unorientated workpieces from a bin. A sensing system views the bin and collects data. A computer analyzes the data to determine candidate holdsites on the workpiece. The hand of the robot assembly then engages a workpiece at a selected holdsite. The workpiece is moved to a pose where the position and orientation of the workpiece are determined. After this determination, the workpiece may be disengaged, or moved to an intermediate or final goalsite. The method is applicable to workpieces that have six continuous unknown degrees of freedom. Furthermore, partial occlusion of the workpiece by the robot hand is allowed.

REFERENCES:
patent: 3804270 (1974-04-01), Michaud et al.
patent: 3888362 (1975-06-01), Fletcher
patent: 3986007 (1976-10-01), Ruoff, Jr.
patent: 4017721 (1977-04-01), Michaud
patent: 4146924 (1979-03-01), Birk et al.
patent: 4187051 (1980-02-01), Kirsch et al.
patent: 4271477 (1981-06-01), Williams
patent: 4305130 (1981-12-01), Kelley et al.

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