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1. (WO2018185855) CONTROL DEVICE, PICKING SYSTEM, DISTRIBUTION SYSTEM, PROGRAM, CONTROL METHOD, AND PRODUCTION METHOD

Pub. No.:    WO/2018/185855    International Application No.:    PCT/JP2017/014140
Publication Date: Fri Oct 12 01:59:59 CEST 2018 International Filing Date: Wed Apr 05 01:59:59 CEST 2017
IPC: B25J 9/10
Applicants: MUJIN, INC.
株式会社MUJIN
Inventors: ROSEN Diankov
ロセン ディアンコウ
Title: CONTROL DEVICE, PICKING SYSTEM, DISTRIBUTION SYSTEM, PROGRAM, CONTROL METHOD, AND PRODUCTION METHOD
Abstract:
The present invention is equipped with: a first candidate information acquisition unit for acquiring first candidate information which indicates the postures a picking hand can adopt in a first location; a second candidate information acquisition unit for acquiring second candidate information which indicates the postures the picking hand can adopt in a second location; an extraction unit for extracting one combination from among one or more combinations pertaining to a posture indicated by the first candidate information and a posture indicated by the second candidate information; a trajectory calculation unit for calculating a trajectory whereby the picking hand (i) picks up a workpiece in a first location using the posture related to the first position that is included in the one combination and (ii) disposes the workpiece in a second location using the posture related to the second location that is included in the one combination; and a determination unit for determining whether or not there is interference on the trajectory calculated by the trajectory calculation unit.