Toyota Jidosha Kabushiki Kaisha

Tatsuro Mori

Yoshiki Nagai

Yusuke Matsumoto

Hisanori Nakamura

Masahito Sakakibara

Yukiyasu Domae

Yuichi Hirano

Jun Ikarashi

Takashi Sakui

Issei Matsumoto

Toshio Ueshiba

A workpiece holding apparatus include holding means for attracting and holding each workpiece in turn from among workpieces placed in a 3D space; first information acquisition means for acquiring 3D information of workpieces; candidate calculation means for calculating, based on the acquired 3D information of the workpieces, candidate holding points, the candidate holding points being, when the holding means holds each of the workpieces in turn, candidates for a holding point of that workpiece; second information acquisition means for acquiring information about each of other workpieces present within a predetermined range from each of the candidate holding points on the workpieces; and control means for selecting one of the candidate holding points based on the information about the workpiece acquired by the second information acquisition means, and controlling the holding means so that the holding means holds the workpiece at the selected candidate holding point.

Workpiece holding apparatus, workpiece holding method, program, and control apparatus capable of preventing a selected workpiece from being attracted and held by other workpieces

To calculate a holding position of a workpiece with high accuracy and place the workpiece in a placement position with high accuracy based on the holding position. A workpiece holding apparatus includes: holding means for holding a workpiece; first information acquisition means for acquiring three-dimensional information of the workpiece held by the holding means; position calculation means for calculating a lowest center point of the workpiece as position information of the workpiece based on the three-dimensional information of the workpiece acquired by the first information acquisition means; and control means for calculating a placement position where the workpiece is to be placed based on the position information of the workpiece calculated by the position calculation means and controlling, based on the placement position, the holding means so as to move the workpiece to the placement position and place the workpiece in the placement position.

Workpiece holding apparatus, workpiece holding method, program, and control apparatus

A robot with a noncontact sensor is configured to: perform the predetermined motion in a state where the moving object does not enter, and thereby store, for each of a plurality of measurement points set in a movable range of the robot, an output value of the noncontact sensor as a reference output value in advance, and stop the predetermined motion when the output value of the noncontact sensor changes from the reference output value at the measurement point closest to a current operating position of the robot by a first threshold value or larger when the robot is performing the predetermined motion in a state where the moving object could possibly enter and the current operating position of the robot is in a range in which it is necessary to determine an entering state of the moving object.

Robot

An axial force measurement method includes: a step of calculating an average value of the height of pixels positioned inside a minimum circle, which is centered on a gravity center position of a head, as a minimum point; a step of extracting pixels with a relatively large height from the pixels on the basis of a pixel value of the pixels and calculating an average value of the height of the extracted pixels as a maximum point; a step of calculating a displacement amount of the head on the basis of a difference between the minimum point and the maximum point; and a step of calculating an axial force by substituting the displacement amount of the head into a relational expression of an axial force and the displacement amount of the head.

Axial force measurement method

Growing community of inventors

Toyota, Japan

Tatsuro Mori