EP 4284604 A1 20231206 - METHOD FOR ASCERTAINING CONTROL DATA FOR A GRIPPING DEVICE FOR GRIPPING AN OBJECT
Title (en)
METHOD FOR ASCERTAINING CONTROL DATA FOR A GRIPPING DEVICE FOR GRIPPING AN OBJECT
Title (de)
VERFAHREN ZUM ERMITTELN VON STEUERUNGSDATEN FÜR EINE GREIFEINRICHTUNG ZUM GREIFEN EINES GEGENSTANDS
Title (fr)
PROCÉDÉ DE DÉTERMINATION DE DONNÉES DE COMMANDE POUR UN DISPOSITIF DE PRÉHENSION DESTINÉ À SAISIR UN OBJET
Publication
Application
Priority
- EP 21163930 A 20210322
- EP 2022055162 W 20220301
Abstract (en)
[origin: WO2022199994A1] The invention relates to a method for ascertaining control data for a gripping device (120, 122) for gripping an object (200, 210, 220, 300, 310), having the steps of: - capturing an image (132) of the object (200, 210, 220, 300, 310), - determining at least one object parameter (202, 212, 222, 302, 312) of the captured object (200, 210, 220, 300, 310), and - ascertaining control data for a gripping device (120, 122) in order to grip the object (200, 210, 220, 300, 310) at at least one gripping point (205, 215, 225, 305, 315), wherein the process of ascertaining the at least one gripping point (205, 215, 225, 305, 315) of the object (200, 210, 220, 300, 310) is carried out using information relating to at least one possible stable position of the object (200, 210, 220, 300, 310), and the possible stable position of the object is designed such that all of the position data of the object that can be converted into one another by means of a movement and/or rotation about a surface normal of a support surface on which the object lies are assigned to the possible stable position.
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: EP)
B25J 9/161 (2013.01); B25J 9/1612 (2013.01); G05B 2219/39484 (2013.01); G05B 2219/39514 (2013.01); G05B 2219/39536 (2013.01)
Citation (search report)
See references of WO 2022199994A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
Designated validation state (EPC)
KH MA MD TN
DOCDB simple family (publication)
EP 4063081 A1 20220928; CN 117355394 A 20240105; EP 4284604 A1 20231206; WO 2022199994 A1 20220929
DOCDB simple family (application)
EP 21163930 A 20210322; CN 202280036828 A 20220301; EP 2022055162 W 20220301; EP 22712899 A 20220301