| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to perform a pick and place precisely.SOLUTION: A gripping plan decision program causes a computer, on the basis of product information indicating a direction, in which a part three-dimensional model and a part are assembled by the pick-and-place of a robot hand, a processing to extract a holding surface for holding the part by the robot hand. Moreover, the gripping plan determination program causes a computer to perform an operation to compute the gripping position of the robot hand to increase the insertion stroke for enabling a part to be inserted into an assembled part while the robot hand holding the part, under the restricting condition that the area contacted by the robot hand is made larger than a predetermined value. On the basis of the gripping position computed, moreover, the gripping plan determination program causes the computer to execute an operation to output the gripping plan of the robot hand to pick and place the part thereby to assemble the part with a part at the assembling termination.SELECTED DRAWING: Figure 2 |
