| 摘要 |
PROBLEM TO BE SOLVED: To attain picking without extremely limiting a movable area by setting a work coordinate system fixed to a work and a box coordinate system matched with a box in which the work is housed, and searching a non-interrupting picking attitude in those coordinate systems. SOLUTION: At the time of operating picking by matching a picking attitude to the sides of the bottom face of a box, when the picking attitude is matched with the sides of the bottom face of the box, four attitudes are considered. That is, four unit vectors→n1,→n2,→n3, and→n4 in parallel to the sides of the box are considered so that four attitudes can be decided. At the time of operating picking by matching a tool coordinate axis with the sides of the box, each attitude is calculated, and an area incapable of picking is judged. When any area incapable of picking is not present, interference check is operated, and when any interference is not present, the processing is ended. When any area incapable of picking is present, or when any interference is present, transition to the next attitude is attained.
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