ROBOT SYSTEM, ROBOT CONTROL APPARATUS, METHOD FOR CONTROLLING ROBOT
First Claim
1. A robot system comprising:
- a robot comprising;
an arm comprising a plurality of joints;
a plurality of actuators configured to drive the plurality of joints;
a plurality of sensors configured to detect operation states of the plurality of actuators;
a probe mounted on the arm; and
a force sensor configured to detect force received by the probe; and
a controller configured to control the robot, the controller comprising;
a determinator configured to determine whether the force received by the probe from a structure disposed at a predetermined position on a work stand satisfies a predetermined condition;
an operation state acquisitor configured to acquire the operation states of the plurality of actuators when the force received by the probe satisfies the predetermined condition;
a coordinate calculator configured to calculate a position coordinate of the probe based on the operation states of the plurality of actuators; and
a position correction amount calculator configured to calculate a correction amount of a position of the work stand relative to the robot based on the position coordinate of the probe.
1 Assignment
0 Petitions
Accused Products
Abstract
A robot system includes a robot and a controller. An arm includes joints. Actuators drive the joints. Sensors detect operation states of the actuators. The probe is mounted on the arm. A force sensor detects force received by the probe. The controller controls the robot. A determinator determines whether the force from a structure disposed at a position on a work stand satisfies a condition. An operation state acquisitor acquires the operation states when the force satisfies the condition. A coordinate calculator calculates a position coordinate of the probe based on the operation states. A position correction amount calculator calculates a correction amount of a position of the work stand relative to the robot based on the position coordinate.
4 Citations
12 Claims
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1. A robot system comprising:
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a robot comprising; an arm comprising a plurality of joints; a plurality of actuators configured to drive the plurality of joints; a plurality of sensors configured to detect operation states of the plurality of actuators; a probe mounted on the arm; and a force sensor configured to detect force received by the probe; and a controller configured to control the robot, the controller comprising; a determinator configured to determine whether the force received by the probe from a structure disposed at a predetermined position on a work stand satisfies a predetermined condition; an operation state acquisitor configured to acquire the operation states of the plurality of actuators when the force received by the probe satisfies the predetermined condition; a coordinate calculator configured to calculate a position coordinate of the probe based on the operation states of the plurality of actuators; and a position correction amount calculator configured to calculate a correction amount of a position of the work stand relative to the robot based on the position coordinate of the probe. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A robot control apparatus configured to control a robot, the robot comprising:
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an arm comprising a plurality of joints; a plurality of actuators configured to drive the plurality of joints; a plurality of sensors configured to detect operation states of the plurality of actuators; a probe mounted on the arm; and a force sensor configured to detect force received by the probe, the robot control apparatus comprising; a determinator configured to determine whether the force received by the probe from a structure disposed at a predetermined position on a work stand satisfies a predetermined condition; an operation state acquisitor configured to acquire the operation states of the plurality of actuators when the force received by the probe satisfies the predetermined condition; a coordinate calculator configured to calculate a position coordinate of the probe based on the operation states of the plurality of actuators; and a position correction amount calculator configured to calculate a correction amount of a position of the work stand relative to the robot based on the position coordinate of the probe.
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12. A method for controlling a robot for controlling a robot, the robot comprising:
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an arm comprising a plurality of joints; a plurality of actuators configured to drive the plurality of joints; a plurality of sensors configured to detect operation states of the plurality of actuators; a probe mounted on the arm; and a force sensor configured to detect force received by the probe, the method comprising; determining whether the force received by the probe from a structure disposed at a predetermined position on a work stand satisfies a predetermined condition; acquiring the operation states of the plurality of actuators when the force received by the probe satisfies the predetermined condition; calculating a position coordinate of the probe based on the operation states of the plurality of actuators; and calculating a correction amount of a position of the work stand relative to the robot based on the position coordinate of the probe.
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Specification