Robot system

• US 20050273199A1
• Filed: 06/02/2005
• Published: 12/08/2005
• Est. Priority Date: 06/02/2004
• Status: Abandoned Application

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Ban, Kazunori, Yamada, Makoto, Kanno, Ichiro, Inoue, Toshihiko
• Application Number:
  US11/142,496
• Publication Number:
  US 20050273199A1
• Time in Patent Office: Days
• US Class Current: 700/248
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/39045 Camera on end effector detects reference pattern
• CPC Class Codes: G05B 2219/39046 Compare image of plate on robot with reference, move till coincidence, camera
• CPC Class Codes: G05B 2219/39114 Hand eye cooperation, active camera on first arm follows movement of second arm
• CPC Class Codes: G05B 2219/39397 Map image error directly to robot movement, position with relation to world, base not needed, image based visual servoing

Abstract

A robot system comprising a first robot (R1) with a camera of a visual sensor mounted thereon and a second robot (R2) having a feature portion, is disclosed. The robots (R1, R2) are set in the first initial states (G1), from which the first robot (R1) or the second robot (R2) is moved so that the image of the feature portion assumes a target position or size (G2), thereby to store the present positions (P1, Q1) (G3). The same process is repeated N times (N≧3) while changing the positions of the initial states of the robots (G4). Based on the positions P1, . . . , PN and Q1, . . . , QN obtained by the N repetitive above processes, a matrix T indicating the coordinate conversion from Σb to Σb′ is determined. One or two robot control units may be provided. As a result, the calibration to determine relative positions between the robots can be carried out easily and with high accuracy, thereby reducing the jig-related cost.

Claims

1. A robot system comprising:

a first robot having a first robot coordinate system set therein;

a second robot having a second robot coordinate system set therein;

a measuring unit including a light-receiving device mounted on selected one of the first robot or an object mounted on the first robot;

a means for setting the first robot and the second robot at each position of their initial states, respectively;

a means for detecting, with the light-receiving device, a feature portion mounted on selected one of the second robot or an object mounted on the second robot, and detecting the feature portion imaged on the light-receiving surface of the light-receiving device;

a means for determining, based on the result of the detection, the distance to be covered by the second robot in such a manner that the two-dimensional feature amount including the position of the feature portion on the light-receiving surface is coincident with a predetermined target value;

a means for moving the second robot in accordance with the determined distance to be covered by the second robot;

a means for acquiring and storing the position information of the second robot after movement; and

a means for calculating the relative positions of the first robot coordinate system and the second robot coordinate system using the position information of the second robot stored for each initial state and the information of the first robot in the initial states in the case where at least three initial states are given.

2. A robot system according to claim 1, further comprising:

a coincidence determining means for determining that the two-dimensional feature amount including the position, on the light-receiving surface of the light-receiving device, of the feature portion imaged on the light-receiving surface is coincident with a predetermined target value within a predetermined error after movement of the second robot and before acquiring and storing the position of the second robot.

3. A robot system according to claim 2, further comprising:

a means for setting the second robot in the position of the initial state again in the case where the coincidence determining means fails to determine the coincidence within a predetermined tolerable error range.

7. A robot system according to claim 1,

wherein the first robot is connected to a first robot control unit, and the second robot is connected to a second robot control unit different from the first robot control unit, and

wherein the first robot control unit and the second robot control unit are connected to each other through a communication means.

8. A robot system according to claim 1,

wherein the first robot and the second robot are connected to the same robot control unit.

9. A robot system according to claim 1,

wherein the measuring unit is mounted temporarily when calculating the relative positions between the first robot and the second robot.

10. A robot system according to claim 1,

wherein the feature portion is mounted temporarily when calculating the relative positions between the first robot and the second robot.

11. A robot system according to claim 1,

wherein the light-receiving device is a camera for capturing a two-dimensional image.

12. A robot system according to claim 1, wherein the light-receiving device is a PSD.

4. A robot system comprising:

a first robot having a first robot coordinate system set therein;

a second robot having a second robot coordinate system set therein;

a measuring unit including a light-receiving device mounted on selected one of the first robot or an object mounted on the first robot;

a means for setting the first robot and the second robot at each position of initial states, respectively;

a means for detecting, with the light-receiving device, a feature portion mounted on selected one of the second robot or an object mounted on the second robot, and detecting the feature portion imaged on the light-receiving surface of the light-receiving device;

a means for determining, based on the result of the detection, the distance to be covered by the first robot in such a manner that the two-dimensional feature amount including the position of the feature portion on the light-receiving surface is coincident with a predetermined target value;

a means for moving the first robot in accordance with the determined distance to be covered by the first robot;

a means for acquiring and storing the position information of the first robot after movement; and

a means for calculating the relative positions of the first robot coordinate system and the second robot coordinate system using the position information of the first robot stored for each initial state and the position information of the second robot in the initial states in the case where at least three initial states are given.

5. A robot system according to claim 4, further comprising:

a coincidence determining means for determining that the two-dimensional feature amount including the position, on the light-receiving surface of the light-receiving device, of the feature portion imaged on the light-receiving surface is coincident with a predetermined target value within a predetermined error after movement of the first robot before acquiring and storing the position of the first robot.

6. A robot system according to claim 5, further comprising:

a means for setting the first robot at a position in the initial state again in the case where the coincidence determining means fails to determine the coincidence within a predetermined tolerable error range.