| 摘要 |
PROBLEM TO BE SOLVED: To recognize a position attitude of a column curved like a pipe elbow, and grasp the column using a robot.SOLUTION: A main vector and a normal are calculated relative to a three-dimensional point, and verification with a model is performed from a statistical distribution on a unit sphere thereof. After specifying a plane attitude, rotation in a plane is calculated with respect to a shape formed by distribution of the main vector on the plane, and after specifying the attitude, a parallel moving component is calculated. A grasp point is calculated by using a transformation matrix of the results, and grasped by the robot. |
