Method of correcting position of robot and robot

Patent metadata

Field	Value
Publication number	US-11059178-B2
Application number	US-201816234084-A
Country	US
Kind code	B2
Filing date	Dec 27, 2018
Priority date	Dec 27, 2018
Publication date	Jul 13, 2021
Grant date	Jul 13, 2021

Abstract

A position correction method includes: a step of opposing a hand to a target by moving the hand such that the hand becomes in a predetermined first initial posture; a first position detection step of detecting a position of the target from a rotation angle of a rotation axis when the target blocks a detection light by swinging the hand; a step of opposing the hand to the target by moving the hand such that the hand becomes a predetermined second initial posture different from the first initial posture; a second position detection step of detecting a position of the target from the rotation angle of the rotation axis when the target blocks the detection light by swinging the hand; and a correction amount arithmetic step of obtaining rotation angle correction amounts of the second axis and the third axis based on a difference between the position of the target acquired in the first initial posture and the position of the target acquired in the second initial posture.

First claim

What is claimed is:

1. A method of correcting a position of a robot,
the robot including:
a base;
an arm that is formed by connecting at least two links and connected to the base;
a hand that is connected to the arm and includes a first front end and a second front end that are bifurcated;
a sensor that is configured to propagate detection light between the first front end and the second front end and to detect whether a target blocks the detection light; and
a controller that controls operation of the arm and the hand,
a plurality of rotation axes being set so as to be parallel to each other at each of a plurality of connection portions,
the plurality of connection portions including a connection portion of the base and the arm, a connection portion of two adjacent links among the links constituting the arm, and a connecting portion of the arm and the hand,

assuming that three of the rotation axes are a first axis, a second axis, and a third axis in order from the rotation axis closest to the base, the method comprising:
a step of opposing the hand to the target by moving the hand such that the hand becomes in a predetermined first initial posture;
a first position detection step of detecting a rotation angle of the rotation axis when the target blocks the detection light by swinging the hand;
a step of opposing the hand to the target by moving the hand such that the hand becomes a predetermined second initial posture different from the first initial posture;
a second position detection step of detecting the rotation angle of the rotation axis when the target blocks the detection light by swinging the hand; and
a correction amount arithmetic step of obtaining rotation angle correction amounts of the second axis and the third axis based on a difference between the rotation angle of the rotation axis acquired in the first initial posture and the rotation angle of the rotation axis acquired in the second initial posture.

2. The method of correcting a position according to claim 1 , wherein
in the first position detection step, a position of the target is obtained from the rotation angle of the rotation axis when the target blocks the detection light,
in the second position detection step, a position of the target is obtained from the rotation angle of the rotation axis when the target blocks the detection light, and
in the correction amount arithmetic step, the rotation angle correction amount is obtained based on a difference between the position obtained in the first position detection step and the position obtained in the second position detection step.

3. The method of correcting a position of a robot according to claim 1 , wherein
the target includes a first target and a second target,
while the rotation angle correction amounts of the second axis and the third axis are taken into consideration, one of the first and second position detection steps is performed using the first target, and the other of the first and second position detection steps is performed using the second target, and
the rotation angle correction amount of the first axis is obtained based on data of a distance from the first axis acquired from the two position detection steps to the target and data of the rotation angle of the first axis.

4. A robot comprising:
a base;
an arm that is formed by connecting at least two links and connected to the base;
a hand that is connected to the arm and includes a first front end and a second front end that are bifurcated;
a sensor that is configured to propagate detection light between the first front end and the second front end and to detect whether a target blocks the detection light; and
a controller that is configured to control operation of the arm and the hand,
wherein
a plurality of rotation axes are set so as to be parallel to each other at each of a plurality of connection portions,
the plurality of connection portions includes a connection portion of the base and the arm, a connection portion of two adjacent links among the links constituting the arm, and a connecting portion of the arm and the hand, and
assuming that three of the rotation axes are a first axis, a second axis, and a third axis in order from the rotation axis closest to the base,
the controller:
opposes the hand to the target by moving the hand such that the hand becomes in a predetermined first initial posture;
detects a rotation angle of the rotation axis when the target blocks the detection light by swinging the hand;
opposes the hand to the target by moving the hand such that the hand becomes a predetermined second initial posture different from the first initial posture;
detects the rotation angle of the rotation axis when the target blocks the detection light by swinging the hand; and
obtains rotation angle correction amounts of the second axis and the third axis based on a difference between the rotation angle of the rotation axis acquired in the first initial posture and the rotation angle of the rotation axis acquired in the second initial posture.

Assignees

• Kawasaki Heavy Ind Ltd
• Kawasaki Robotics Usa Inc

Inventors

• Yoshida Masaya
• Nakahara Hajime
• Yamaguchi Takao
• Chung Daniel

Classifications

• G05B2219/39025

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• G05B2219/39007

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• B25J9/1694

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• B25J9/1692 Primary

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• B25J9/046

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