Robot system
First Claim
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.
1 Assignment
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Accused Products
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.
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Citations
12 Claims
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1. A robot system comprising:
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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. - View Dependent Claims (2, 3, 7, 8, 9, 10, 11, 12)
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4. A robot system comprising:
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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. - View Dependent Claims (5, 6)
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Specification