Robot system and method for controlling the same
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05B-019/04
G05B-019/18
B25J-009/16
출원번호
US-0178167
(2014-02-11)
등록번호
US-9221176
(2015-12-29)
우선권정보
JP-2013-026158 (2013-02-14)
발명자
/ 주소
Suzuki, Hideaki
출원인 / 주소
Canon Kabushiki Kaisha
대리인 / 주소
Canon U.S.A., Inc. IP Division
인용정보
피인용 횟수 :
1인용 특허 :
6
초록▼
A robot system which requires no manual teaching operation in acquiring calibration values for coordinate transformation, and improves the calibration accuracy includes a robot body, a camera, and a control apparatus. The control apparatus measures, via the camera, a calibration plate at each positi
A robot system which requires no manual teaching operation in acquiring calibration values for coordinate transformation, and improves the calibration accuracy includes a robot body, a camera, and a control apparatus. The control apparatus measures, via the camera, a calibration plate at each position and orientation of a first position and orientation group including a reference measurement position and orientation and a position and orientation within a first offset range, calculates a first calibration value based on the measurement value, measures, via the camera, the calibration plate at each position and orientation of a second position and orientation group including a reference operation position and orientation different from the reference measurement position and orientation, and a position and orientation within a second offset range, calculates a second calibration value based on the measurement value, and activates the robot body by using the first and second calibration values.
대표청구항▼
1. A robot system comprising: a robot body including an articulated arm and an end effector supported by the articulated arm;a visual sensor provided on the robot body; anda control apparatus configured to control a position and orientation of the robot body, and to calculate a position and orientat
1. A robot system comprising: a robot body including an articulated arm and an end effector supported by the articulated arm;a visual sensor provided on the robot body; anda control apparatus configured to control a position and orientation of the robot body, and to calculate a position and orientation of a workpiece by using a measurement value measured via the visual sensor,wherein the control apparatus performs processing comprising: measuring, via the visual sensor, a reference member at each position and orientation of a first position and orientation group including a first reference position and orientation of the robot body and a position and orientation of the robot body within a first offset range surrounding the first reference position and orientation;calculating a first calibration value by using the measurement value of the reference member, the measurement value being measured via the visual sensor at each position and orientation of the first position and orientation group;measuring, via the visual sensor, the reference member at each position and orientation of a second position and orientation group including a second reference position and orientation of the robot body, which is different from the first reference position and orientation, and a position and orientation of the robot body within a second offset range surrounding the second reference position and orientation, the second offset range being a range separated from the first offset range, or being a range whose one part overlaps the first offset range and another part does not overlap the first offset range;calculating a second calibration value by using the measurement value of the reference member, the measurement value being measured via the visual sensor at each position and orientation of the second position and orientation group;moving the robot body to the first reference position and orientation to measure the workpiece via the visual sensor followed by calibration using the first calibration value, and then, moving the robot body close to the second reference position and orientation followed by calibration using the second calibration value; andactivating the robot body. 2. The robot system according to claim 1, wherein the first reference position and orientation is a position and orientation at which the visual sensor faces the workpiece straighter than at the second reference position and orientation. 3. The robot system according to claim 1, wherein the second reference position and orientation is a position and orientation at which the end effector faces the workpiece straighter than at the first reference position and orientation. 4. The robot system according to claim 1, wherein the control apparatus further performs processing comprising: calculating a basic calibration value by using the measurement value of the reference member, the measurement value being measured via the visual sensor at each position and orientation of the first position and orientation group and the second position and orientation group;calculating a first correction value for the basic calibration value by using the measurement value of the reference member, the measurement value being measured via the visual sensor at each position and orientation of the first position and orientation group;calculating the first calibration value based on the first correction value and the basic calibration value;calculating a second correction value for the basic calibration value by using the measurement value of the reference member, the measurement value being measured via the visual sensor at each position and orientation of the second position and orientation group; andcalculating the second calibration value based on the second correction value and the basic calibration value. 5. The robot system according to claim 1, wherein an assembly part that is to be assembled to the workpiece is gripped by the end effector, and the workpiece is supported by a base supporting the articulated arm, andwherein the control apparatus further performs processing comprising:measuring the assembly part via the visual sensor;executing coordinate transformation on the measurement value of the assembly part and the measurement value of the workpiece from a coordinate system of the visual sensor to a coordinate system of the robot body by using the first calibration value and the second calibration value; andcalculating, by using the measurement value of the assembly part and the measurement value of the workpiece having undergone the coordinate transformation, a command value for moving the robot body so that the assembly part is assembled to the workpiece. 6. A method for controlling a robot system comprising: a robot body including an articulated arm and an end effector supported by the articulated arm;a visual sensor provided on the robot body; anda control apparatus configured to control a position and orientation of the robot body, and to calculate a position and orientation of a workpiece by using a measurement value measured via the visual sensor,the method comprising: causing the control apparatus to measure, via the visual sensor, a reference member at each position and orientation of a first position and orientation group including a first reference position and orientation of the robot body and a position and orientation of the robot body within a first offset range surrounding the first reference position and orientation;causing the control apparatus to calculate a first calibration value by using the measurement value of the reference member, the measurement value measured via the visual sensor at each position and orientation of the first position and orientation group;causing the control apparatus to measure, via the visual sensor, the reference member at each position and orientation of a second position and orientation group including a second reference position and orientation of the robot body, which is different from the first reference position and orientation, and a position and orientation of the robot body within a second offset range surrounding the second reference position and orientation, the second offset range being a range separated from the first offset range, or being a range whose one part overlaps the first offset range and another part does not overlap the first offset range;causing the control apparatus to calculate a second calibration value by using the measurement value of the reference member, the measurement value being measured via the visual sensor at each position and orientation of the second position and orientation group;causing the control apparatus to move the robot body to the first reference position and orientation to measure the workpiece via the visual sensor followed by calibration using the first calibration value, and then, moving the robot body close to the second reference position and orientation followed by calibration using the second calibration value; andcausing the control apparatus to activate the robot body. 7. The method according to claim 6, wherein the first reference position and orientation is a position and orientation at which the visual sensor faces the workpiece straighter than at the second reference position and orientation. 8. The method according to claim 6, wherein the second reference position and orientation is a position and orientation at which the end effector faces the workpiece straighter than at the first reference position and orientation. 9. The method according to claim 6, further comprising: causing the control apparatus to calculate a basic calibration value by using the measurement value of the reference member, the measurement value being measured via the visual sensor at each position and orientation of the first position and orientation group and the second position and orientation group;causing the control apparatus to calculate a first correction value for the basic calibration value by using the measurement value of the reference member, the measurement value being measured via the visual sensor at each position and orientation of the first position and orientation group;causing the control apparatus to calculate the first calibration value based on the first correction value and the basic calibration value;causing the control apparatus to calculate a second correction value for the basic calibration value by using the measurement value of the reference member, the measurement value being measured via the visual sensor at each position and orientation of the second position and orientation group; andcausing the control apparatus to calculate the second calibration value based on the second correction value and the basic calibration value. 10. The method according to claim 6, wherein an assembly part that is to be assembled to the workpiece is gripped by the end effector, and the workpiece is supported by a base supporting the articulated arm,the method further comprising: causing the control apparatus to measure the assembly part via the visual sensor;causing the control apparatus to execute coordinate transformation on the measurement value of the assembly part and the measurement value of the workpiece from a coordinate system of the visual sensor to a coordinate system of the robot body, by using the first calibration value and the second calibration value; andcausing the control apparatus to calculate, by using the measurement value of the assembly part and the measurement value of the workpiece having undergone the coordinate transformation, a command value for moving the robot body so that the assembly part is assembled to the workpiece. 11. A non-transitory computer-readable storage medium storing a program that causes a computer to execute a method for controlling a robot system, the robot system comprising: a robot body including an articulated arm and an end effector supported by the articulated arm;a visual sensor provided on the robot body; anda control apparatus configured to control a position and orientation of the robot body, and to calculate a position and orientation of a workpiece by using a measurement value measured via the visual sensor,the method comprising: causing the control apparatus to measure, via the visual sensor, a reference member at each position and orientation of a first position and orientation group including a first reference position and orientation of the robot body and a position and orientation of the robot body within a first offset range surrounding the first reference position and orientation;causing the control apparatus to calculate a first calibration value by using the measurement value of the reference member, the measurement value measured via the visual sensor at each position and orientation of the first position and orientation group;causing the control apparatus to measure, via the visual sensor, the reference member at each position and orientation of a second position and orientation group including a second reference position and orientation of the robot body, which is different from the first reference position and orientation, and a position and orientation of the robot body within a second offset range surrounding the second reference position and orientation, the second offset range being a range separated from the first offset range, or being a range whose one part overlaps the first offset range and another part does not overlap the first offset range;causing the control apparatus to calculate a second calibration value by using the measurement value of the reference member, the measurement value being measured via the visual sensor at each position and orientation of the second position and orientation group;causing the control apparatus to move the robot body to the first reference position and orientation to measure the workpiece via the visual sensor followed by calibration using the first calibration value, and then, moving the robot body close to the second reference position and orientation followed by calibration using the second calibration value; andcausing the control apparatus to activate the robot body.
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이 특허에 인용된 특허 (6)
Vangal-Ramamurthy, Jambunathan; Foster, Robert E., Calibrated vision based robotic system.
Red Walter E. (Provo UT) Davies Brady R. (Orem UT) Wang Xuguang (Provo UT) Turner Edgar R. (Provo UT), Device and method for correction of robot inaccuracy.
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