发明名称 |
Object handling apparatus |
摘要 |
<p>An object handling apparatus capable of securely holding an object (W) and precisely transferring the held object (W) from a first place to a second place without need of a specific jig for positioning the object (W) on a pallet (21). A position of an object (W) supplied to the first place is detected by a first visual sensor (23) to obtain a compensation amount for compensating a position displacement of the supplied object (W). The object (W) is held by a robot hand having position/orientation compensated using the compensation amount and position/orientation of the object (W) held by the robot hand relative to the robot hand is detected by a second visual sensor (41). A displacement of the position/orientation of the object (W) held by the robot hand from a reference position/orientation is compensated based on the detected position/orientation of the object (W) on the robot hand, so that the object (W) held by the robot hand is precisely moved to have a predetermined position/orientation to be transferred to the second place. The robot hand may be a servo hand having fingers driven by one or more servomotors so that position and force of the fingers in holding the object is controlled. <IMAGE></p> |
申请公布号 |
EP1391275(A2) |
申请公布日期 |
2004.02.25 |
申请号 |
EP20030254997 |
申请日期 |
2003.08.12 |
申请人 |
FANUC LTD |
发明人 |
WATANABE, ATSUSHI;OTSUKA, KAZUHISA;ODA, MASARU;SUZUKI, TADANORI |
分类号 |
B25J13/08;B25J9/10;B25J9/16;B25J9/18;(IPC1-7):B25J9/16 |
主分类号 |
B25J13/08 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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