公开(公告)号：US20170067728A1

公开(公告)日：2017-03-09

申请号：US15259118

申请日：2016-09-08

Applicant: FANUC CORPORATION

Inventor： Takahiro Iwatake ,  Kaimeng Wang ,  Bunketsu Chin

IPC: G01B5/012

CPC classification number: G01B5/004 ,  G01B21/04

Abstract: A system which calculates the relative posture or the relative position and posture between a first object and a second object. This invention provides an object posture calculation system including a first object and a second object contactable at three contact points, a driving unit which brings the first object and the second object into contact with each other, a force measuring unit which measures a force acting between the first object and the second object, and an object posture calculation unit which calculates the relative posture or the relative position and posture between the first object and the second object on the basis of the force measured by the force measuring unit when the first object and the second object come into contact with each other at the three contact points.

Abstract translation: 一种计算第一对象和第二对象之间的相对姿势或相对位置和姿势的系统。 本发明提供一种物体姿势计算系统，包括：第一物体和第三物体，其在三个接触点处可接触;驱动单元，其使所述第一物体和所述第二物体彼此接触;力测量单元， 第一物体和第二物体，以及物体姿势计算单元，其基于当第一物体和第二物体的力测量单元测量的力时，计算第一物体和第二物体之间的相对姿势或相对位置和姿势 第二个物体在三个接触点处相互接触。

公开(公告)号：US09903698B2

公开(公告)日：2018-02-27

申请号：US15259118

申请日：2016-09-08

Applicant: FANUC CORPORATION

Inventor： Takahiro Iwatake ,  Kaimeng Wang ,  Bunketsu Chin

IPC: G01B5/004 ,  G01B21/04

CPC classification number: G01B5/004 ,  G01B21/04

Abstract: A system which calculates the relative posture or the relative position and posture between a first object and a second object. This invention provides an object posture calculation system including a first object and a second object contactable at three contact points, a driving unit which brings the first object and the second object into contact with each other, a force measuring unit which measures a force acting between the first object and the second object, and an object posture calculation unit which calculates the relative posture or the relative position and posture between the first object and the second object on the basis of the force measured by the force measuring unit when the first object and the second object come into contact with each other at the three contact points.