Robot system and calibration method of the robot system

• US 9,517,560 B2
• Filed: 07/15/2014
• Issued: 12/13/2016
• Est. Priority Date: 07/22/2013
• Status: Active Grant

• Current Assignee: Canon Ayutthaya Limited (Canon Inc.)
• Original Assignee: Canon Ayutthaya Limited (Canon Inc.)
• Inventors: Amano, Shingo
• Primary Examiner(s): Moyer, Dale
• Application Number:
  US14/332,143
• Publication Number:
  US 20150025683A1
• Time in Patent Office: 882 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/39008 Fixed camera detects reference pattern held by end effector
• CPC Class Codes: G05B 2219/39022 Transform between measuring and manipulator coordinate system
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A control apparatus calculates a calibration value based on a position in the robot coordinate system 41 and a position in the vision coordinate system 42, for at least three teaching points set within a calibration area. Markers 21 of two of the three teaching points have the same inclination in relation to an optical axis of a camera 3 as a visual sensor, and the two points are placed on different positions of the same plane normal to the optical axis. The remaining one of the three teaching points other than the two points is set such that the inclination of the marker 21 in relation to the optical axis is different from that of the two points. As a result, influence of a large quantization error in the optical axis direction as a measurement error of the camera 3 can be reduced.

Claims

1. A robot system comprising:

a robot body configured to operate a work;

a visual sensor; and

a control apparatus configured to control a position and an orientation of the robot body, and to calculate a position and an orientation of the work using a measured value by the visual sensor, wherein,

when observation of a marker by the visual sensor is performed for a calibration between a robot coordinate system fixed to the robot body and a vision coordinate system fixed to the visual sensor, a calibration value is calculated based on a position of the robot body in the robot coordinate system, and a position of the marker in the vision coordinate system for at least three teaching points set within a calibration area, two of the three teaching points are placed on different positions in a plane A of a finite size normal to an optical axis of the visual sensor, wherein the marker at two of the three teaching points has the same inclination in relation to the optical axis of the visual sensor, and wherein the marker at the teaching point other than the two of the three teaching points has an inclination different from that of the two of the three teaching points and crosses the plane A.

2. The robot system according to claim 1, wherein

the control apparatus moves the marker to the three teaching points by means of the robot body, and

the visual sensor at a fixed position measures a position of the marker.

3. The robot system according to claim 1, wherein

the marker is fixed at a position different from the robot body,

the visual sensor is placed on the robot body, and

the control apparatus operates the robot body such that the fixed marker is brought into the three teaching points.

4. The robot system according to claim 1, wherein

the control apparatus operates the robot body respectively

such that (1) the marker and the visual sensor are rotated relatively at a first predetermined angle α

around an axis parallel to the optical axis, to bring the marker into the two of the three teaching points placed on different positions in the same plane, and

such that (2) the marker and the visual sensor are rotated relatively at a second predetermined angle β

around the axis perpendicular to the optical axis, to bring the marker into the teaching point other than the two of the three teaching points.

5. The robot system according to claim 4, wherein

the first predetermined angle α

meet a relation 0°

<

α

<

180°

.

6. The robot system according to claim 4, wherein

the second predetermined angle β

meet a relation 5°

<

β

<

10°

.

7. A calibration method of a robot system, wherein

the robot system comprises:

a robot body configured to operate a work;

a visual sensor; and

a control apparatus configured to control a position and an orientation of the robot body, and to calculate a position and an orientation of the work using a measured value by the visual sensor, wherein

the calibration method is performed for a calibration between a robot coordinate system fixed to the robot body and a vision coordinate system fixed to the visual sensor, and

the calibration method comprises

operating, by the control apparatus, the robot body to obtain three teaching points within a calibration area; and

observing a marker by the visual sensor, to calculate a calibration value based on a position of the robot body in the robot coordinate system, and a position of the marker in the vision coordinate system for at least the three teaching points, wherein

two of the three teaching points are placed on different positions in a plane A of a finite size normal to an optical axis of the visual sensor, wherein the marker at two of the three teaching points has the same inclination in relation to the optical axis of the visual sensor, and wherein the marker at the teaching point other than the two of the three teaching points has an inclination different from that of the two of the three teaching points and crosses the plane A.

8. The calibration method according to claim 7, wherein

the operating the robot body is performed to operate the robot body respectively

such that (1) the marker and the visual sensor are rotated relatively at a first predetermined angle α

around an axis parallel to the optical axis, to bring the marker into the two of the three teaching points placed on different positions in the same plane, and

such that (2) the marker and the visual sensor are rotated relatively at a second predetermined angle β

around the axis perpendicular to the optical axis, to bring the marker into the teaching point other than the two of the three teaching points.

9. The calibration method according to claim 8, wherein

the first predetermined angle α

meet a relation 0°

<

α

<

180°

.

10. The calibration method according to claim 8, wherein

the second predetermined angle β

meet a relation 5°

<

β

<

10°

.

11. The calibration method according to claim 7, wherein,

when the robot body cannot brought into a position and an orientation corresponding to the teaching point other than the two of the three teaching points, the teaching point other than the two of the three teaching points is reset to be a point shifted in parallel along a direction of the optical axis of the visual sensor.

12. A non-transitory computer readable recording medium recording a program operating a computer to execute the calibration method of the robot system according to claim 11.

13. A program operating the robot system and control apparatus to execute the each of the processes of the calibration method according to claim 7.