ROBOT, ROBOT SYSTEM, CONTROL DEVICE, AND CONTROL METHOD

• US 20150251314A1
• Filed: 03/03/2015
• Published: 09/10/2015
• Est. Priority Date: 03/07/2014
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group), Tohoku University National Universities Corporation
• Original Assignee: Seiko Epson Corporation (Seiko Group), Tohoku University National Universities Corporation
• Inventors: NAMMOTO, Takashi, KOSUGE, Kazuhiro, HASHIMOTO, Koichi
• Granted Patent: US 9,656,388 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/39346 Workspace impedance control
• CPC Class Codes: G05B 2219/39394 Compensate hand position with camera detected deviation, new end effector attitude
• CPC Class Codes: G05B 2219/39483 Control angle of rotation
• CPC Class Codes: G05B 2219/39487 Parallel jaws, two fingered hand
• CPC Class Codes: G05B 2219/39543 Recognize object and plan hand shapes in grasping movements
• CPC Class Codes: G05B 2219/40583 Detect relative position or orientation between gripper and currently handled object

Abstract

Provided is a robot including a hand and a control unit that operates the hand. The control unit rotates a first object around a predetermined position of the first object with the hand and moves the first object with respect to a second object, based on a captured image including the hand and the first object.

Claims

1. A robot comprising:

a hand; and

a control unit configured to operate the hand,

wherein the control unit is configured to rotate a first object around a predetermined position of the first object with the hand to move the first object with respect to a second object, based on a captured image including the hand and the first object.

2. The robot according to claim 1, wherein

the predetermined position is a coordinate origin that moves with the first object, and

the control unit is configured to translate the first object in addition to rotating the first object.

3. The robot according to claim 1, wherein the control unit is configured to perform visual servo control based on the captured image.

4. The robot according to claim 1, wherein the control unit is configured to perform compliant motion control according to a motion characteristic set in the predetermined position and each axial direction.

5. The robot according to claim 1, wherein the control unit is configured to derive a relative positional relationship between a position set in the hand and a position set in the first object based on the captured image, and update the predetermined position based on the derived positional relationship.

6. The robot according to claim 5, wherein the control unit is configured to update the predetermined position based on the derived positional relationship, and a relative positional relationship between the position set in the first object and the predetermined position.

7. The robot according to claim 1, further comprising:

a marker indicating a position set in the hand,

wherein the captured image further includes the marker, and

the control unit is configured to derive a relative positional relationship between a position set in the hand and the predetermined position based on the position of the marker detected from the captured image, and update the predetermined position based on the derived relative positional relationship between the position set in the hand and the predetermined position.

8. The robot according to claim 7, wherein,

if the control unit detects the marker and the position and the posture of the first object, the control unit is configured to update the predetermined position based on a first captured image including the imaged marker, a second captured image including the imaged first object, and a relative positional relationship between a first camera capturing the first captured image and a second camera capturing the second captured image.

9. The robot according to claim 1, wherein

the control unit is configured to derive a relative positional relationship between the position set in the hand and the predetermined position based on the position in an initial state set in the hand, and update the predetermined position based on the derived relative positional relationship between the position set in the hand and the predetermined position.

10. A robot system comprising:

a robot including a hand; and

an imaging unit that images the hand and a first object,

wherein the robot is configured to rotate the first object around a predetermined position of the first object and relatively move the first object with respect to a second object based on a captured image including the hand and the first object captured by the imaging unit.

11. A control device for operating a robot including a hand,

wherein the control device is configured to cause the robot to rotate a first object around a predetermined position of the first object and relatively move the first object with respect to a second object, based on a captured image including the hand and the first object.

12. A control method for operating a robot including a hand, comprising:

acquiring a captured image including the hand and a first object; and

rotating the first object around a predetermined position of the first object and relatively moving the first object with respect to a second object based on the captured image.