Robot, robot control device, and robot system

Patent metadata

Field	Value
Publication number	US-2016354929-A1
Application number	US-201615157658-A
Country	US
Kind code	A1
Filing date	May 18, 2016
Priority date	Jun 2, 2015
Publication date	Dec 8, 2016
Grant date	—

Abstract

A robot includes: a local coordinate system deriving portion which derives a local coordinate system having two shafts which are parallel to a work plane and orthogonal to each other, based on an image in which markers illustrating three or more points on the work plane which is not horizontal are captured; and a control parameter obtaining portion which obtains control parameters via the local coordinate system.

First claim

What is claimed is:

1 . A robot comprising:
a local coordinate system deriving portion which derives a local coordinate system having two shafts which are parallel to a work plane and orthogonal to each other, based on an image in which markers illustrating three or more points on the work plane which is not horizontal are captured; and a control parameter obtaining portion which obtains control parameters via the local coordinate system.

2 . The robot according to claim 1 ,
wherein the control parameter is a coordinate of a target point to which a control object point moves.

3 . The robot according to claim 2 , further comprising:
a control mode which moves the control object point parallel to the work plane.

4 . The robot according to claim 1 ,
wherein the control parameter obtaining portion converts a coordinate of the image in which the work plane is captured into a coordinate of the local coordinate system which is the target point when an operator designates the coordinate of the image in which the work plane is captured.

5 . The robot according to claim 1 ,
wherein the control parameter obtaining portion obtains the control parameter via a coordinate system of the image and the local coordinate system.

6 . The robot according to claim 1 , further comprising:
an arm which is controlled by the control parameter.

7 . The robot according to claim 6 ,
wherein the control parameter is a posture of a tool mounted on the arm.

8 . The robot according to claim 1 , further comprising:
a capturing portion which is provided in the arm and captures the markers.

9 . The robot according to claim 8 ,
wherein a positional relationship between the markers and the capturing portion is changed by moving the arm, and wherein calibration between the coordinate system of the image captured by the capturing portion and the local coordinate system is performed, based on the image in which the markers are captured by the capturing portion after the positional relationship between the capturing portion and the markers is changed.

10 . The robot according to claim 9 ,
wherein the positional relationship is changed to be in a state where the work plane and an optical axis of the capturing portion are perpendicular to each other by moving the arm, and wherein the calibration is performed based on the image in which the markers are captured by the capturing portion when the positional relationship is in the state.

11 . A robot control device which controls a robot which processes a workpiece on a work plane which is not horizontal, the device comprising:
a local coordinate system deriving portion which derives a local coordinate system having two shafts which are parallel to a work plane and orthogonal to each other, based on an image in which markers illustrating three or more points on the work plane are captured; and a control parameter obtaining portion which obtains control parameters of the robot via the local coordinate system.

12 . A robot system comprising:
a robot which processes a workpiece on a work plane which is not horizontal; a robot control device which controls the robot; a local coordinate system deriving portion which derives the local coordinate system having two shafts which are parallel to a work plane and orthogonal to each other, based on an image in which markers illustrating three or more points on the work plane are captured; and a control parameter obtaining portion which obtains control parameters of the robot via the local coordinate system.

Assignees

• Seiko Epson Corp

Inventors

• Ishige Taro
• Harada Atsushi
• Yamaguchi Yukihiro

Classifications

• B25J9/1692

  Calibration of manipulator · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• G05B2219/39022

  Transform between measuring and manipulator coordinate system · CPC title

• B25J9/1653

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• G05B2219/40609

  Camera to monitor end effector as well as object to be handled · CPC title