Fanuc Corporation

Makoto Yamada

Kazunori Ban

Fumikazu Warashina

Katsutoshi Takizawa

Kiyoshi Yoshino

Kenshirou Oono

Atsushi Watanabe

Akihiro Terada

Tetsuya Kosaka

Mitsuhiro Okuda

Yuuta Namiki

A robot system includes a robot for performing predetermined processing to a treating object, a photographing device for photographing the treating object, a robot control device for performing position compensation of a moving destination of the robot so as to track the treating object, on a basis of previously-set information on positions of the robot, the photographing device and the treating object, and an image of the treating object photographed by the photographing device, and a display device for providing an AR space. The robot control device calculates a position of the photographing device on the basis of the information on the positions of the robot and the photographing device. The display device displays an image imitating the photographing device at a corresponding position in the AR space, on a basis of the calculated position of the photographing device.

Robot system

An operation adjustment apparatus includes a camera arranged so as to capture images of a robot and a hand. The robot controller includes an operation control unit that sends an operation command to the robot at a predetermined control cycle. The camera captures images at a time interval that coincides with the control cycle. A determination unit of the robot controller determines whether an operation of the hand is appropriate based on a result of image processing performed by an image processing unit. If the determination unit determines that the operation of the hand is not appropriate, a correction unit of the robot controller corrects a command statement included in an operation program so that the operation of the hand is an appropriate operation.

Operation adjustment apparatus for adjusting operation of robot apparatus and operation adjustment method for adjusting operation of robot apparatus

A robot system is provided with: a plurality of robots; an image acquisition unit that can be attached and detached with respect to each of the robots and that acquires an image of an inspection target object; and a plurality of image inspection units that are respectively connected to the robots and that each inspect the inspection target object on the basis of the image acquired by the image acquisition unit. The image acquisition unit holds image-inspection data that includes optical property data indicating optical properties of the image acquisition unit and that is used in the inspection performed by the image inspection units, and transmits the image-inspection data to the image inspection unit that is connected to the robot to which the image acquisition unit is attached.

A robot system calculates positional information of a workpiece with respect to a visual sensor and calculates positional information of an arm tip at a second time based on first times stored by a storing section and the second time at which the visual sensor measures the workpiece.

Robot system comprising visual sensor

A robot control apparatus includes a control apparatus body fixedly installed and connected to a robot and a portable teaching pendant connected to the control apparatus body to operate the robot through the teaching pendant. The teaching pendant includes an imaging device connector for connecting an imaging device to the teaching pendant so as to enable the image picked up by the imaging device to be directly input to the teaching pendant through the imaging device connector.

Robot control apparatus

A measuring system which can easily measure a three-dimensional position of a target to be measured using a light receiving device mounted to a manipulator of a robot. When the manipulator is positioned at a first position, a moving process for moving an image of the target imaged by the light receiving device or a camera to a center of a light receiving surface of the camera is executed. Next, the manipulator positioned at the first position is moved, without changing the orientation of the camera, to a second position where the distance between the camera and the target is different to that at the first position. After that, the moving process is executed again. Based on the position of the manipulator after the process, the orientation of a coordinate system &#x3a3;vrepresenting the direction of a visual line is calculated. Then, the manipulator is rotated by 180 degree about Z-axis of the coordinate system &#x3a3;vand the moving process is executed again. A middle point of the positions of coordinate system &#x3a3;vbefore and after movement of the manipulator is determined as an origin of a coordinate system &#x3a3;vrepresenting the orientation and the position of the visual line. The manipulator is inclined relative to Y-axis of the coordinate system &#x3a3;vand the moving process is executed again, so as to calculate the three-dimensional position of the target.

Measuring system

A visual sensor capable of expanding a dynamic range with a little load of processing for arithmetic operations and performing a stable detection not affected by change of conditions such as ON/OFF state of projection of reference light. A multiplying parameter A (A&#x3e;1) and the number N of times of image capturing are set in accordance with ON/OFF state of the reference light projection. N images are captured with a shutter speed varying by successively multiplying an initial value by (1/A). Values of density of each pixel in the captured images are summed. Values of constants B and C in equations: 1=B&#xb7;Zmax+C; 0=B&#xb7;Zmin+C are obtained based on the maximum value Zmax and the minimum value Zmin of the summed values of densities of all the pixels. An output value Z' of each pixel is obtained according to an equation: Z&#x2032;=B&#xb7;Z+C, using the determined values of B and C.

Visual sensor for capturing images with different exposure periods

The image of a tool center point () caught by a camera (light-receiving device)from two initial positions is moved to a predetermined point, by a predetermined point moving process, at the center of a light-receiving surface thereby to acquire robot positions (QfQf), based on which the direction of the view line () is determined. Next, the robot is moved to the position where the position (Qf) is rotated by 180 degrees around the Z axis of a coordinate system (&#x3a3;v) thereby to execute the predetermined point moving process. After rotational movement, a robot position (Qf) is acquired. The midpoint between the position (Qf) and the position (Qf) is determined as the origin of a coordinate system (&#x3a3;v). Using the position and the posture of the view line (), the position of the tool center point () is determined. Thus, the position of the tool center point with respect to the tool mounting surface can be determined using a fixed light-receiving device. By additionally measuring two points at known relative positions from the tool center point, the tool posture as well as the position of the tool center point can be determined.

An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.

Growing community of inventors

Yamanashi, Japan

Makoto Yamada