Honda Motor Co., Ltd.

Other

Nobuhiro Nanba

Yoshito Otake

Takuo Kobayashi

Toshiyuki Kondo

Akira Nakashima

Takuya Furuno

Shinji Sawada

Tetsuro Yamanobe

Masafumi Goto

Keisuke Oya

Yoshikazu Hayakawa

Kenji Fujimoto

Takashi Uno

Hirofumi Kimura

The guidepath includes: a magnet guide tape which carries S pole, and guides a carrier vehicle in a first direction by the S pole by being arranged on a floor so as to extend in the first direction; a magnet guide tape which carries S pole, and guides the carrier vehicle in a second direction by the S pole by being arranged on the floor so as to extend in a second direction which intersects the first direction; and a magnetic body tape which is arranged at a side of the magnet guide tape at a position above which a marker sensor passes upon the carrier vehicle being guided by the magnet guide tape, and suppresses N pole.

Guidepath of carrier vehicle

The grip position calculator determines a grip position where the fingers can grip a workpiece in any orientation of the workpiece. The calculator then determines an initial position where the finger tips can grip the workpiece and set the initial position as a point of calculation. Then an allowable gripping force is calculated which is an index that indicates an allowable force to be applied to the workpiece at point. Then other allowable forces are calculated for a plurality of points near the point of calculation. Then the point of calculation is selected as a possible gripping position if the allowable force a point is greater than any of the allowable forces. Otherwise, one of the points is selected for another point of calculation where the greatest allowable force (De) has been calculated and return to calculating an allowable gripping force.

Grip position calculator and method of calculating grip position

Growing community of inventors

Utsunomiya, Japan

Nobuhiro Nanba