Apparatus for determining pickup pose of robot arm with camera

  • US 20090234502A1
  • Filed: 03/11/2009
  • Published: 09/17/2009
  • Est. Priority Date: 03/12/2008
  • Status: Active Grant
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1. An apparatus for determining, in a three-dimensional coordinate system, a pickup pose of a robot arm with a camera when an image of a workpiece is to be picked up by the camera, the workpiece being mounted on a reference plane, the apparatus comprising:

  • an input unit configured to input a first coordinate of the workpiece in a first axis of the three-dimensional coordinate system, the first axis being defined to be directed in orthogonal to the reference plane;

    a coordinate obtaining unit configured to;

    drive the robot to move the camera opposing the workpiece in the first direction such that at least part of the workpiece is captured in a field of view (FOV) of the camera; and

    obtain second and third coordinates of a preset point of the robot arm in respective second and third axes of the three-dimensional coordinate system with the at least part of the workpiece being captured in the field of view of the camera, the second and third axes being orthogonal to the first axis, the first, second, and third coordinates being defined as coordinates of a temporally defined reference point of the workpiece in the three-dimensional coordinate system; and

    a pose determining unit configured to drive, at a given timing, the robot arm to determine a pose of the preset point of the robot arm based on a positional relationship between the first, second, and thin coordinates of the temporally defined reference point of the workpiece am actual coordinates of the preset point of the robot arm.

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