Patent ID: 11964397
Assignee: KURASHIKI BOSEKI KABUSHIKI KAISHA
Field: Handling (Mechanical engineering)
Classification: CPC B  G  H | IPC B

Claim 3:
4. A controller for controlling movement of a line-like object to a target position by a robot hand provided in a robot, wherein
the target position is a hole,
the line-like object has a curved tip,
the controller is configured to obtain a three-dimensional shape of the line-like object from a three-dimensional camera that obtains the three-dimensional shape of the line-like object,
the controller is configured to obtain a position of a tip of the line-like object and an orientation of the tip from the three-dimensional shape, and
the controller is configured to notify, to the robot having the robot hand, information for inserting the tip into the hole which comprises matching the orientation of the tip with a direction of a central axis of the hole, moving the tip to the central axis of the hole, and moving the tip along the direction of the center axis of the hole with the orientation of the tip matched with the direction of the central axis of the hole based on the position of the tip of the line-like object and the orientation of the tip.