Decision method for work attitude in robot visual device
专利汇可以提供Decision method for work attitude in robot visual device专利检索，专利查询，专利分析的服务。并且PURPOSE: To attain the high function of a robot by obtaining two specific straight lines by a prescribed method, obtaining the ratio in length from an origin to a point at which the respective specific straight lines cross the visible outline of a work and deciding the attitude of the work by an angle formed by the specific straight line having the ratio in length nearer to the ratio in length previously registered every work and the coordinate system of a robot visual device.
CONSTITUTION: The characteristic angle θ previously registered every work is called out, the two specific straight lines L
1 , L
2 passing through the origin or the center of gravity G and having an inertia main axis Xw and an angle of ±θ are obtained and further, the length from the center of gravity to the point at which the specific straight lines L
1 , L
2 respectively cross the visual outline of the work W is obtained. Namely, on the specific straight line L
1 , respective L
11 , L
12 are obtained and on the specific straight line L
2 , respective L
21 , L
22 are obtained. Then, the ratios of segments L
11 /L
12 and L
21 /L
22 are obtained and the specific straight line L
1 nearer to the ratio of the segments registered every work is selected. Herein in the case of L
11 /L
12 >1, the L
11 side is set to +. Accordingly, the angle θ' formed by the specific straight line L
1 and the coordinate system Xv of the robot visual device is obtained, thereby, the attitude of the work W can be decided.
COPYRIGHT: (C)1987,JPO&Japio，下面是Decision method for work attitude in robot visual device专利的具体信息内容。
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