US 12,269,694 B2
Controller
Sayaka Doi, Kyoto (JP); Hiroki Koga, Kyoto (JP); Shinji Kawakami, Kyoto (JP); and Yukihisa Karako, Kyoto (JP)
Assigned to OMRON Corporation, Kyoto (JP)
Appl. No. 17/604,799
Filed by OMRON Corporation, Kyoto (JP)
PCT Filed May 13, 2019, PCT No. PCT/JP2019/018993
§ 371(c)(1), (2) Date Oct. 19, 2021,
PCT Pub. No. WO2020/230250, PCT Pub. Date Nov. 19, 2020.
Prior Publication US 2022/0212884 A1, Jul. 7, 2022
Int. Cl. B65G 47/91 (2006.01); B25J 15/06 (2006.01)
CPC B65G 47/917 (2013.01) [B25J 15/0616 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A controller comprising:
a deformation information obtaining unit configured to obtain information on deformation of a suction portion that suctions an object with negative pressure, and that is deformed by the negative pressure; and
an operation control unit configured to control movement of the suction portion in accordance with deformation of the suction portion, wherein
the operation control unit comprises a contact point specifying unit configured to:
specify a contact point where the suction portion contacts the object based on deformation of the suction portion; and
specify said contact point where the object contacts a surface on which the object is to be placed, based on deformation of the suction portion, in a state where the suction portion is suctioning the object.