| 摘要 |
PURPOSE:To accurately identify the type of a workpiece and to accurately specify the position and the posture of the workpiece by creating reference models for respective stable states of the workpiece, comparing the reference models with measured data, and recognizing the workpiece in a three- dimensional way. CONSTITUTION:An FMS (flexible manufacture system) is composed of a machining center 10, an image pickup part 20, a three-dimensional shape measuring unit 30, a recognizing and displaying device 40, and a robot 50. Information to indicate the posture and the position of a workpiece 21 is transferred from the recognizing and displaying device 40 to the machining center 10 and the robot 50, and processing is executed based on the information. Here, the respective stable states of the workpiece 21 are adopted as the postures of the reference models, and the workpiece 21 is identified by comparing the geometrical feature amount of the reference models obtained off-line and the geometrical feature amount of the workpiece 21 based on the measurement obtained on-line. Thus, the type, the position, and the posture of the workpiece 21 can be accurately identified. |
