| 摘要 |
<P>PROBLEM TO BE SOLVED: To surely take out a workpiece placed on a container or the like with the use of a robot. <P>SOLUTION: An image which is photographed with a three-dimensional visual sensor 4 in a robot position for photography is taken in a personal computer 5. The workpiece is detected and camera sight line of each work is obtained. Height measurement region with a range finder 10 is determined and height data is stored (or partially updated) within the same region. The points of intersections of the camera sight line data and height distribution on each detection work are obtained and posture is determined by peripheral height data. From these, the workpiece to take out this time is determined and a measurement point for a three-dimensional visual sensor near it is determined, and at the same point, a main measurement is carried out with the three-dimensional visual sensor 4 and a robot position to take out the workpiece is determined through interference possibility check. The taking out of the workpiece is carried out in the robot position to take out the workpiece through the second interference possibility check. <P>COPYRIGHT: (C)2004,JPO&NCIPI |
