초록

An experimental robot system using vision and a parallel jaw gripper acquires randomly oriented cylindrical workpieces piled in bins. Binary image analysis guides the gripper into multilayered piles of workpieces. Complementary information is provided by sensors on the gripper.

대표청구항 ▼

A method of acquiring unoriented workpieces from a bin using a clamping-type hand, the workpieces being structurally distinct from a sensing system which collects data at least some of the pieces having arbitrary orientation angles in three rotational degrees of freedom which includes: (a) collectin

A method of acquiring unoriented workpieces from a bin using a clamping-type hand, the workpieces being structurally distinct from a sensing system which collects data at least some of the pieces having arbitrary orientation angles in three rotational degrees of freedom which includes: (a) collecting data about the unoriented workpieces in a bin by a sensing system, the data sufficient to select a holdsite for such a hand on workpieces having arbitrary orientation angles; (b) determining and selecting holdsites on workpieces in a bin; (c) locating a selected holdsite relative to the hand of a robot assembly, the robot assembly including an arm to position and rotate the hand; (d) moving the hand having clamping fingers to engage the selected holdsite; and, (e) engaging the workpiece with the fingers.