Robot and control method thereof
US9193072B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 14, 2011 |
| Grant date | Nov 24, 2015 |
| Priority date | — |
| Expiry date | Jan 17, 2033 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39542
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes calculating in advance and storing a plurality of grasp poses to generate grasp routes, sensing respective orientations of an object, the robot arms, and an obstacle, selecting one grasp pose from among the plurality of grasp poses by judging a movable angle range of the at least one joint unit, whether or not the object collides with the obstacle, and self-collision between the robot hands based on the sensed respective orientations, and generating grasp routes using the selected grasp pose. In the control method, the plurality of feasible grasp poses is calculated in advance and then stored, thereby rapidly and stably performing grasping of the object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.