Material or article handling – Vertically swinging load support – Grab
Patent
1985-06-06
1987-12-15
Rolla, Joseph J.
Material or article handling
Vertically swinging load support
Grab
901 3, 901 47, B25J 916, B25J 1904
Patent
active
047129700
ABSTRACT:
A method for teaching a holding position and a holding angle of a work by a hand of a robot to the robot in a robot system having a visual sensor attached to a movable arm of the robot. First, the work is held by the hand which is in a prescribed reference angle state and put down on a working table with keeping the holding state. Next, the centroid position and the angle of the principal axis of the work are recognized by the visual sensor. Finally, the holding position and the holding angle are acquired by using the centroid position and the angle of the principal axis, a posture data of the robot and the hand, and a mutual relation data of a robot coordinate, a visual coordinate and a hand coordinate of the robot system.
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Nakamura Hiro
Ohkawa Shuji
Ohtsuka Yasuo
Shinozaki Toshiya
Tachikawa Hajime
Hitachi , Ltd.
Pedersen Nils
Rolla Joseph J.
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