| 摘要 |
<p>The present invention regards a manipulator (1) comprising a plurality of articulated and motorised elements (21-26), and a positioning device (3) in turn comprising a first emitter (31), intended to emit a laser light sheet (311) in a first emission plane in order to illuminate an object (V), and a receiver (33), intended to receive the laser light diffused by the illuminated object (V). Advantageously, the manipulator (1) comprises a second emitter (32) intended to emit a laser light sheet (321) in a second emission plane, incident on said first emission plane. The profiles of the object (V) illuminated by the two laser light sheets (311, 321) are recorded and processed in order to extrapolate a virtual and three-dimensional modelling of the object (V). The manipulator (1) operates in feedback in order to adapt the orientation of its gripping element (5) to the orientation of the object (V), as seen in the 3D virtual modelling.</p> |
