Honda Motor Co., Ltd.

Kensaku Kaneyasu

Yasuhiro Kawai

Kazuhiko Yamaashi

Eisaku Hasegawa

Mitsutaka Igaue

Toshiyuki Kondo

Shoji Matsuda

Kazuki Akami

Kaoru Shibata

Yushi Aoki

Tetsuya Ozawa

High precision work is performed on a work target (workpiece) during conveyance, irrespective of the oscillations accompanying conveyance. A work method includes steps of: predicting a predicted oscillation pattern occurring in a workpiece (W) afterwards from the measurement results of oscillation occurring in the workpiece (W) during conveyance by way of a workpiece conveyance device (); controlling a robot () so as to operate at an oscillation according to the predicted oscillation pattern thus predicted; detecting oscillation occurring in the robot () during the step of controlling; and comparing the oscillation occurring in the robot () with the predicted oscillation pattern, and in the case of differing, adjusting so that the oscillation of the robot () matches the predicted oscillation pattern, in which each of these steps is completed before the robot () performs work on the workpiece (W).

Work method and work device

Sonic wave speed at a part is calculated considering the environment surrounding the part, sonic wave speed around the part is measured, and the accuracy of the position detection is improved. An ultrasonic wave transmitting device is arranged at a robot hand tip, hexahedrons which can contain the tip are set, and the ultrasonic wave transmitting-receiving devices are arranged at the top points thereof. Upon detecting the tip position, a top point that is close to the tip is selected as a specific point, and sonic wave speeds from other top points to this specific point are calculated. Based on these sonic wave speeds, sonic wave speed along a route from the tip to the specific point is calculated. Based on this sonic wave speed value and spread time of ultrasonic waves between the tip and the specific point, distance from the specific point to the tip is calculated.

Device, method, and program for detecting position

Chirped light pulses, the color of which changes regularly with time, are generated and applied to an object to be measured. A reflected light image of the chirped light pulses reflected from the object is acquired. Then, three-dimensional information of the object is acquired using two-dimensional information, color information represented by the reflected light image of the chirped light pulses, and the field of vision of the three-dimensional information to be acquired is enlarged.

Three-dimensional shape measuring system and three-dimensional shape measuring method

A three-dimensional shape measuring method and a measuring apparatus thereof that allow the operation of a robot to be readily taught and set in a short time when a three-dimensional measuring device mounted on the robot is caused to move along the surface of a work, thereby measuring the shape of the work. A block data representative of measurement operation that causes the three-dimensional measuring device, which is a laser scanner, to move along the surface of the work is set and recorded. Then longitudinally copying (Step S) and laterally copying (Step S) block data is longitudinally and laterally copied after entering the size and basic shape type of the work. Then the shape of the work is measured on the basis of the copied block data.

Three-dimensional shape measuring method and measuring apparatus thereof

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Tochigi, Japan

Kensaku Kaneyasu