An inspection system for carrying out an inspection method for a pillar-shaped honeycomb structure, the inspection system including: a robot arm with a robot hand at a tip of the robot arm, the robot hand comprising a pair of gripping surfaces capable of gripping the pillar-shaped honeycomb structure from the first end surface and the second end surface, the pair of gripping surfaces being configured to be able to rotate the pillar-shaped honeycomb structure at a predetermined rotational speed while gripping the pillar-shaped honeycomb structure from the first end surface and the second end surface; the area camera for the side surface; a screen that can display the strip-shaped images; and a controller that can at least set a rotation speed of the pair of gripping surfaces and the shutter speed of the area camera for the side surface.

An inspection method for determining a presence of a defect on a sides surface of a pillar-shaped honeycomb structure including generating strip-shaped images by repeatedly capturing the side surface part by part with an area camera while relatively moving the area camera with respect to the pillar-shaped honeycomb structure; determining the presence or absence of defects based on the strip-shaped images when a number of the strip-shaped images generated is sufficient to cover the entire side surface; a shutter speed when the area camera captures a part of the side surface for generating a single strip-shaped image is 10 to 1000 sec; and each of the strip-shaped images has a length covering the entire height of the pillar-shaped honeycomb structure in a longitudinal direction, and a length of 1 to 10 mm in a width direction.

A method of adjusting a posture of a 6-axis robot standing in a direction perpendicular or substantially perpendicular to a robot mounting surface includes specifying axis central positions of three axes located at different heights in the direction perpendicular or substantially perpendicular to the robot mounting surface of the 6-axis robot, specifying two planes including two arcs of which rotation centers are represented by two axes farther away from the robot mounting surface among the three axes, specifying a position of a predetermined point on the arc farther away from the robot mounting surface among the two arcs, and determining an angle adjustment amount of the three axes in a rotation direction and an angle adjustment amount of an axis extending between the two axes in a rotation direction based on the specified axis central positions of the three axes, the specified two planes, and the specified position of the predetermined point.

Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.

Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.

There is provided a robot hand that grips and positions a work with a certain gripping force, and that rapidly conveys the work to execute assembling after gripping the work.

A robot for object manipulation may include sensors, a robot appendage, actuators configured to drive joints of the robot appendage, a planner, and a controller. Object path planning may include determining poses. Object trajectory optimization may include assigning a set of timestamps to the poses, optimizing a cost function based on an inverse kinematic (IK) error, a difference between an estimated required wrench and an actual wrench, and a grasp efficiency, and generating a reference object trajectory based on the optimized cost function. Grasp sequence planning may be model-based or deep reinforcement learning (DRL) policy based. The controller may implement the reference object trajectory and the grasp sequence via the robot appendage and actuators.

Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.

A method of controlling a holding apparatus configured to hold plural kinds of target objects by plural fingers in plural relative postures includes calculating, on a basis of information about holding force of the fingers in a relative posture for a target object, an amount of positional deviation of the target object held by the fingers, and correcting, on a basis of the amount of positional deviation calculated in the calculating, a position of the target object held by the fingers.

Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.