| 摘要 |
PROBLEM TO BE SOLVED: To provide an article taking-out apparatus that can take out articles by positions and attitudes of bulked articles by using no pattern matching.SOLUTION: A surface position of an article 20 is measured by a three-dimensional measuring machine 11 to acquire positional information of a plurality of three-dimensional points 31. A density distribution representing a degree of distribution of the plurality of three-dimensional points 31 in a three-dimensional space is calculated on the basis of the acquired positional information of the plurality of three-dimensional points 31. A density maximum position where the density becomes maximum is calculated on the basis of this density distribution. The density maximum position or a position and an attitude of a hand 14 that can take out the article 20 located in its vicinity are calculated. The robot 12 is controlled so as to take out the article 20 by moving the hand 14 to this hand position and attitude 38. |
