| 摘要 |
PROBLEM TO BE SOLVED: To provide an article retrieving apparatus that can avoid increase in the time required to move to a retaining position/posture and deviation of a robot from an action range.SOLUTION: An article retrieving apparatus includes a robot that retains a target article, a sensor that measures a position and a posture of the article, a reference retaining position/posture memory unit in which a reference retaining position/posture is stored, a retaining position/posture changeable range memory unit in which a retaining position/posture changeable range is stored, a retaining position/posture calculation unit that calculates a retaining position/posture of the robot on the basis of the position and attitude of the target article and the reference retaining position/posture, a selecting condition memory unit in which selecting conditions according to which a priority of the retaining position/posture is determined is stored, and a retaining position/posture selection unit that selects the retaining position/posture of the robot according to the priority, which is determined based on the selecting condition, from among the retaining positions/postures of the robot deduced from the retaining position/posture of the robot and the retaining position/posture changeable range. |
