Kabushiki Kaisha Toshiba

Toshiba Infrastructure Systems & Solutions Corporation

Tetsuya Masuda

Akihito Ogawa

Junji Oaki

Junichi Inoue

Yasunori Chiba

Haruhiko Horiuchi

Yoshifumi Oka

Takafumi Ushiyama

A picking apparatus in an embodiment includes: a gripper, an arm, a detector, and a control unit. The gripper picks and grips an object to be conveyed. The arm moves the gripper and causes the gripper to convey the object to be conveyed. The detector is attached to the arm and senses a force applied to the gripper. The control unit controls an operation of the gripper and the arm. The control unit includes a calculator and a subtractor. The calculator calculates a gravitational force and an inertial force applied to the gripper when the gripper grips and moves the object to be conveyed using an arithmetic expression including a coefficient determined in accordance with a mass of the object to be conveyed. The subtractor subtracts the gravitational force and the inertial force calculated by the calculator from a force applied to the gripper sensed by the detector.

Picking apparatus, control apparatus, and program

An object handling control device includes one or more processors configured to acquire at least object information and status information representing an initial position and a destination of an object; set, when a grasper grasping the object moves from the initial position to the destination, a first region, a second region, and a third region in accordance with the object information and the status information; and calculate a moving route along which the object is moved from the initial position to the destination with reference to the first region, the second region, and the third region.

Object handling control device, object handling device, object handling method, and computer program product

Growing community of inventors

Kawasaki, Japan

Tetsuya Masuda