Patent ID: 9050722
Filing Date: 2015-06-09
Classification: B25J,G05B

Abstract:
1. A pickup device for picking up a target object from a plurality of objects, comprising: a robot equipped with a tool adapted to hold the target object; a sensor for measuring positions and postures of the plurality of objects; a reference holding position and posture storing unit for storing a reference holding position and posture which serve as a reference for a position and posture of the robot relative to the target object when the robot holds the target object by the tool; a holding position and posture modification range storing unit for storing a holding position and posture modification range which corresponds to a range of modification which can be applied to the reference holding position and posture so as to hold the target object by the tool; a holding position and posture calculating unit for calculating a holding position and posture of the robot in which the robot can hold the target object by the tool, based on the position and posture of the target object measured by the sensor and on the reference holding position and posture; a selection condition storing unit for storing at least one selection condition, based on which priority of the holding position and posture of the robot can be determined; and a holding position and posture selecting unit for selecting one of the holding positions and postures of the robot in accordance with the priority determined by the selection condition, the holding positions and postures of the robot being obtained from the holding position and posture calculated by the holding position and posture calculating unit and from the holding position and posture modification range.