ROBOT CONTROL DEVICE, ROBOT, ROBOT SYSTEM, AND CALIBRATION METHOD OF CAMERA FOR ROBOT
First Claim
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1. A control device that controls a robot having an arm provided with a calibration pattern of a camera and the camera provided independently of the arm, comprising:
- a processor that is configured to execute computer-executable instructions so as to control the robot,wherein the processor is configured to;
move the arm to rotate a calibration pattern around three rotation axes linearly independent from each other and to stop at a plurality of rotation positions,cause the camera to capture a pattern image of the calibration pattern at the plurality of rotation positions, anddetermine parameters of the camera for calculating the coordinate transformation between a target coordinate system having a known relative position and attitude with respect to a robot coordinate system of the robot and a camera coordinate system of the camera using the pattern image captured at the plurality of rotation positions.
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Abstract
An processor moves an arm to rotate a calibration pattern around three rotation axes linearly independent from each other and to stop at a plurality of rotation positions. A processor causes a camera to capture a pattern image of the calibration pattern at the plurality of rotation positions. A processor estimates parameters of the camera for calculating a coordinate transformation between a target coordinate system and a camera coordinate system using a pattern image captured at the plurality of rotation positions.
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Citations
19 Claims
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1. A control device that controls a robot having an arm provided with a calibration pattern of a camera and the camera provided independently of the arm, comprising:
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a processor that is configured to execute computer-executable instructions so as to control the robot, wherein the processor is configured to; move the arm to rotate a calibration pattern around three rotation axes linearly independent from each other and to stop at a plurality of rotation positions, cause the camera to capture a pattern image of the calibration pattern at the plurality of rotation positions, and determine parameters of the camera for calculating the coordinate transformation between a target coordinate system having a known relative position and attitude with respect to a robot coordinate system of the robot and a camera coordinate system of the camera using the pattern image captured at the plurality of rotation positions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for performing camera calibration in a robot system including a robot having an arm provided with a calibration pattern of a camera and the camera provided independently of the arm, the method comprising:
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moving the arm to rotate a calibration pattern around three rotation axes linearly independent from each other and to stop at a plurality of rotation positions; causing the camera to capture a pattern image of the calibration pattern at the plurality of rotation positions; and determining parameters of the camera for calculating a coordinate transformation between a target coordinate system having a known relative position and attitude with respect to a robot coordinate system of the robot and a camera coordinate system of the camera using the pattern image captured at the plurality of rotation positions.
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Specification