Determination of Object-Related Gripping Regions Using a Robot

Patent metadata

Field	Value
Publication number	US-2016136807-A1
Application number	US-201514934667-A
Country	US
Kind code	A1
Filing date	Nov 6, 2015
Priority date	Nov 13, 2014
Publication date	May 19, 2016
Grant date	—

Abstract

The invention relates to a method and a system for determining gripping regions on an object. The object is to be gripped, based on the determined gripping regions, by means of a robot. At least one first gripping pose of the robot is taught at the object, and additional gripping poses are determined at the object. Based on these gripping poses, a first gripping region is configured.

First claim

1 . A method for determining at least one gripping region at an object, wherein the object is to be gripped by a gripper in a gripping pose in the gripping region, which method includes the following steps:
defining an object coordinate system of the object, which is to be gripped by the gripper; configuring at least one first gripping pose by positioning the gripper at the object; specifying at least one additional gripping pose at the object; and determining a first gripping region in the object coordinate system of the object based on the at least first and the at least additional gripping pose.

2 . The method according to claim 1 , wherein the object coordinate system is a Cartesian coordinate system and/or wherein the steps a) through d) are carried out offline.

3 . The method according to claim 1 , additionally including the step of:
provisioning of structural data of the object, in particular of CAD data.

4 . The method according to claim 1 , additionally including the step of:
provisioning of the object on a pre-defined marker.

5 . The method according to claim 4 , wherein the gripper is guided by a robot, and wherein the provisioning of the object comprises an identification of the object by the robot by means of at least one sensor, wherein the at least one sensor comprises an optical sensor and wherein the identification is preferably based on the provided structural data.

6 . The method according to claim 1 , wherein the specification of at least one additional gripping pose comprises a calculation of the at least one additional gripping pose in the object coordinate system of the object, wherein the calculation occurs based on provided structural data, in particular of CAD data of the object and on the at least one first gripping pose.

7 . The method according to claim 1 , wherein the specification of the at least one additional gripping pose occurs based on rotational and/or translational degrees of freedom of the object.

8 . The method according to claim 1 , wherein the configuration by positioning in accordance with step b) comprises the guiding of the gripper to the actual object.

9 . The method according to claim 1 , wherein the guiding of the gripper to the actual object comprises at least one of an active guiding of the gripper by hand or an active guiding of the gripper using a telemanipulation device.

10 . The method according to claim 1 , wherein the gripper is guided by a robot, with the method preferably additionally comprising the provision of at least one robot and one gripper, which is guided by the robot, and at least one object, which is to be gripped by the robot by means of the gripper.

11 . A method for gripping an object by means of a robot, which method includes the following steps:
a) provisioning of a gripping region determined according to claim 1 ; b) provisioning of at least one robot and at least one object, which is to be gripped by the robot; c) selecting of a gripping pose based on the provided gripping region; d) approaching the selected gripping pose; and e) gripping the object.

12 . A robot system, comprising a robot, wherein the system is equipped with a control device, which is configured to execute a method according to any one of claims 1 - 11 .

13 . The method according to claim 9 , wherein the telemanipulation device is a joystick.

Assignees

• Kuka Roboter Gmbh

Inventors

• Scheurer Christian
• Bobert Stephanie
• Zimmermann Uwe

Classifications

• B25J9/1669 Primary

  characterised by special application, e.g. multi-arm co-operation, assembly, grasping · CPC title

• Y10S901/02

  Arm motion controller · CPC title

• B25J9/1612 Primary

  characterised by the hand, wrist, grip control · CPC title

• B25J13/02

  Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} · CPC title

• G05B2219/39466

  Hand, gripper, end effector of manipulator · CPC title