Patent ID: 11919161
Assignee: FANUC CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 10:
11. A method for computing an object grasp for a machine tending robot, said method comprising:
generating a grasp database, including providing an object model including three-dimensional (3D) shape data for an object to be grasped and a gripper model including 3D shape data and actuation parameters for a gripper, receiving user specifications including definition of preferred grasp regions on the object and prohibited grasp regions on the object, and repeatedly performing an iterative optimization, using a computer having a processor and memory, where each optimization converges to a locally-optimum quality grasp while satisfying constraint equations which define surface contact without interference between the gripper and the object, avoid the prohibited grasp regions on the object and attract to the preferred grasp regions on the object, where data defining each of the quality grasps is output to the grasp database; and
using the grasp database during live robotic operations to identify a target object to grasp from a container of objects, including estimating object poses by comparing depth images from a 3D camera to the object model, identifying the target object by mapping grasps from the grasp database onto the estimated object poses, and providing target object grasp data to a robot controller which instructs a robot fitted with the gripper to grasp and move the target object into a machining station which grasps the target object at a location not used for grasping by the robot.