DEVICE AND A METHOD FOR RESTORING POSITIONAL INFORMATION OF ROBOT
First Claim
1. A device for restoring positional information of a robot provided with a first member and a second member connected in a manner movable relative to each other via an articulation axis;
- a motor moving the second member relative to the first member; and
a sensor outputting a sensor signal according to a driving amount of the motor,the device comprising a positional information validation section, capable of validating positional information depending on the sensor signal based on a reference position of the articulation axis, the positional information having been invalidated for a reason that a component affecting a correlation between the sensor signal and a relative movement of the second member relative to the first member is removed or replaced after the correlation is determined with respect to the reference position,wherein the positional information validation section comprises;
an imaging section obtaining an image signal in a region including a first mark and a second mark provided in the first member and the second member, respectively, in advance, the first mark and the second mark representing a positional relationship between the first member and the second member;
a mark position computation section computing a first positional relationship between the first mark and the second mark at a first time before the component is removed or replaced, based on an image signal obtained by the imaging section at the first time, and computing a second positional relationship between the first mark and the second mark at a second time after the component is removed or replaced, based on an image signal obtained by the imaging section at the second time; and
a correction section correcting positional information depending on a sensor signal output by the sensor after the second time, based on the first positional relationship and the second positional relationship computed by the mark position computation section as well as a first sensor signal output by the sensor at the first time and a second sensor signal output by the sensor at the second time.
1 Assignment
0 Petitions
Accused Products
Abstract
A device for restoring positional information of a robot provided with a first member and a second member connected movable relative to each other via an articulation axis; a motor moving the second member relative to the first member; and a sensor outputting a sensor signal according to a driving amount of the motor. The device includes an imaging section obtaining an image signal in a region including a first mark and a second mark representing a positional relationship between the first member and the second member; a mark position computation section computing a first positional relationship between the first mark and the second mark at a first time and a second positional relationship between the first mark and the second mark at a second time, based on an image signal obtained by the imaging section at the first time and at the second time; and a correction section correcting positional information depending on a sensor signal output by the sensor after the second time, based on the first positional relationship and the second positional relationship, a first sensor signal output by the sensor at the first time and a second sensor signal output by the sensor at the second time.
6 Citations
7 Claims
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1. A device for restoring positional information of a robot provided with a first member and a second member connected in a manner movable relative to each other via an articulation axis;
- a motor moving the second member relative to the first member; and
a sensor outputting a sensor signal according to a driving amount of the motor,the device comprising a positional information validation section, capable of validating positional information depending on the sensor signal based on a reference position of the articulation axis, the positional information having been invalidated for a reason that a component affecting a correlation between the sensor signal and a relative movement of the second member relative to the first member is removed or replaced after the correlation is determined with respect to the reference position, wherein the positional information validation section comprises; an imaging section obtaining an image signal in a region including a first mark and a second mark provided in the first member and the second member, respectively, in advance, the first mark and the second mark representing a positional relationship between the first member and the second member; a mark position computation section computing a first positional relationship between the first mark and the second mark at a first time before the component is removed or replaced, based on an image signal obtained by the imaging section at the first time, and computing a second positional relationship between the first mark and the second mark at a second time after the component is removed or replaced, based on an image signal obtained by the imaging section at the second time; and a correction section correcting positional information depending on a sensor signal output by the sensor after the second time, based on the first positional relationship and the second positional relationship computed by the mark position computation section as well as a first sensor signal output by the sensor at the first time and a second sensor signal output by the sensor at the second time. - View Dependent Claims (2, 3)
- a motor moving the second member relative to the first member; and
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4. A method for restoring positional information of a robot having a first member and a second member connected in a manner movable relative to each other via an articulation axis;
- a motor moving the second member relative to the first member; and
a sensor outputting a sensor signal according to a driving amount of the motor, adapted to validate positional information depending on the sensor signal based on a reference position of the articulation axis, the positional information having been invalidated for a reason that a component affecting a correlation between the sensor signal and a relative movement of the second member relative to the first member is removed or replaced after the correlation is determined with respect to the reference position,the method including; a first shooting procedure for shooting a region including a first mark and a second mark provided in the first member and the second member, respectively, in advance with a camera, at a first time before the component is removed or replaced, the first mark and the second mark representing a positional relationship between the first member and the second member; a first computation procedure for computing a first positional relationship between the first mark and the second mark at the first time, based on an image signal obtained in the first shooting procedure; a second shooting procedure for shooting a region including the first mark and the second mark with a camera, at a second time after the component is removed or replaced; a second computation procedure for computing a second positional relationship between the first mark and the second mark at the second time, based on an image signal obtained in the second shooting procedure; and a correction procedure for correcting positional information depending on a sensor signal output by the sensor after the second time, based on the first positional relationship computed in the first computation procedure and the second positional relationship computed in the second computation procedure as well as a first sensor signal output by the sensor at the first time and a second sensor signal output by the sensor at the second time. - View Dependent Claims (5, 6, 7)
- a motor moving the second member relative to the first member; and
Specification