WORKPIECE RETRIEVAL SYSTEM

Abstract: a workpiece retrieval system according to one embodiment of the present disclosure, which is capable of reliably retrieving a workpiece, comprises a three-dimensional measurement instrument that measures the shape of a workpiece, a robot having a hand that grips the workpiece, and a control device that controls the robot such that a workpiece is retrieved by the robot on the basis of a result of measurement by the three-dimensional measurement instrument, the control device having: a storage unit that stores a workpiece model, in which the three-dimensional shape of the workpiece is modeled, and a hand model, in which the three-dimensional shape of the hand is modeled; a matching unit that identifies the position and orientation of the workpiece according to a process for matching the result of measurement by the three-dimensional measurement instrument and the workpiece model; a model-positioning unit that positions the workpiece model, within a virtual space, at the position and orientation identified by the matching unit; and a grip determination unit that positions the hand model within the virtual space and, on the basis of the relationship between the hand model and the workpiece model that are positioned within the virtual space, determines a grip position and orientation that apply to the hand when the workpiece is gripped by the hand.

Inventor(s): Takashi YAMAZAKI

CPC Classification: B25J9/1697 ({Vision controlled systems})

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