| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device and a method for taking out an object, in each of which such a possibility is minimized that the object to be taken out interferes with another object adjacent thereto when a plurality of objects are gripped and taken out successively. <P>SOLUTION: When the plurality of objects placed in the installation space are gripped and taken out successively by using a robotic hand, positions of the plurality of objects are recognized by a recognition unit. The plurality of the position-recognized objects are selected successively. The degree of interference is determined about the plurality of objects in the selected order. In the determination of the degree of interference, when the selected object is taken out, such a degree that the selected object interferes with the other object adjacent thereto (the adjacent object) is defined as a first degree, and when the adjacent object is taken out, such a degree that the adjacent object interferes with the selected object is defined as a second degree, and whether the first degree is equal to or smaller than the second degree is determined. The negatively determined object is not incorporated in the taking-out order. The taking-out order of the plurality of positively-determined objects is determined in the positively-determined order. The object is gripped and taken out by using the robotic hand according to the determined taking-out order. <P>COPYRIGHT: (C)2013,JPO&INPIT |
