Seiko Epson Corporation

Mitsuhiro Inazumi

Hiroshi Hasegawa

Yasunaga Miyazawa

Isao Edatsune

Osamu Urano

Tadashi Aizawa

Seiji Aiso

Masahisa Ikejiri

Takahiko Noda

Kesatoshi Takeuchi

Hidehito Iisaka

Masaki Motoyoshi

Toshiki Fujimori

Takahiro Sagawa

Nobuhiro Karito

Norihiko Yamada

Kenji Onda

Hiroyuki Kawada

A control device determines whether deviation between a predetermined position detected by a processor and a reference predetermined position stored in advance in a control device is within a preset allowable range.

Control device for robot, robot, robot system, and method of confirming abnormality of robot

A calibration method for calibrating a first camera and a second camera which are different in at least one of an angle of view and a focal length includes capturing images which include a calibration tool having a first pattern configured with a plurality of first marks and a second pattern configured with a plurality of second marks, different in at least one of a shape between the first mark and the second mark, a size between the first mark and the second mark, and arrangement between the first marks and the second marks, by the first camera and the second camera, and calibrating the first camera and the second camera using patterns corresponding respectively to the first camera and the second camera.

Calibration method and calibration tool of camera

An image processing device that detects a marker, in which the marker includes a first figure in which three or more figure centers are overlapped with each other and a data area provided on an internal or external portion of the first figure, and the image processing device detects the first figure and detects the data area based on the figure centers of the first figure.

Image processing device, robot, robot system, and marker

A force detection apparatus includes a first member, a second member, and a third member, the second member and the first member sandwich a plurality of piezoelectric elements (in a narrow sense, a first piezoelectric element and a second piezoelectric element), and the third member and the first member sandwich a plurality of piezoelectric elements (in a narrow sense, a third piezoelectric element and a fourth piezoelectric element) different from the plurality of piezoelectric elements sandwiched by the second member and the first member.

Force detection apparatus and robot

A control device includes a reception unit that receives first operation information and second operation information different from the first operation information; and a process unit that instructs a robot to execute operations based on the first operation information and the second operation information using a plurality of captured images of an imaged target object, the images being captured multiple times while the robot moves from a first posture to a second posture different from the first posture.

Control device, robot, robot system, and control method

A robot controller includes a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor, a target value output unit that obtains a target value by performing correction processing on the target track based on the correction value and outputs the obtained target value, and a robot control unit that performs feedback control of the robot based on the target value. The force control unit includes an impedance processor that obtains a solution of a differential equation in force control as the correction value before the conversion processing, and a nonlinear convertor that obtains the correction value after the conversion processing by performing nonlinear conversion processing on the correction value before the conversion processing acquired from the impedance processor and outputs the obtained correction value after the conversion processing.

Robot controller, robot system, robot control method

A robot includes a control unit that controls a movable unit of the robot to move an endpoint of the movable unit closer to a target position, and an image acquisition unit that acquires a target image as an image containing the end point when the end point is in the target position, and a current image as an image containing the end point when the end point is in a current position. The control unit controls movement of the movable unit based on the current image and the target image and output from a force detection unit that detects a force acting on the movable unit.

Robot controller, robot system, robot, robot control method, and program

A robot control system includes a force control unit configured to output a correction value of a target track of a robot on the basis of sensor information acquired from a force sensor, a target-value output unit configured to apply correction processing based on the correction value to the target track to calculate a target value and output the calculated target value, and a robot control unit configured to perform feedback control of the robot on the basis of the target value. The force control unit includes a digital filter unit. The force control unit applies digital filter processing by the digital filter unit to the sensor information to calculate a solution of an ordinary differential equation in force control and outputs the correction value on the basis of the calculated solution.

Robot control system, robot system, and sensor information processing apparatus

A collision detection system includes a processing section, a drawing section, and a depth buffer. Depth information of an object is set to the depth buffer as depth map information. The drawing section performs a first drawing process of performing a depth test, and drawing a primitive surface on a reverse side when viewed from a predetermined viewpoint out of primitive surfaces constituting a collision detection target object with reference to the depth buffer. Further, the drawing section performs a second drawing process of drawing the primitive surface on the reverse side when viewed from a predetermined viewpoint out of the primitive surfaces constituting the collision detection target object without performing the depth test. The processing section determines whether or not the collision detection target object collides with the object on the target side based on the result of the first drawing process and the second drawing process.

Collision detection system, robotic system, collision detection method and program

A control system includes a force sensor that has a mechanical mechanism (e.g., an end effector) and N (N is an integer equal to or more than two) triaxial force sensor units, acquires unit output values to which values resulting from the mechanical mechanism have been added from the respective triaxial force sensor units of the N triaxial force sensor units, and outputs force sense values based on the unit output values, a force sense value corrector that corrects the force sense values based on the force sense values output by the force sensor, and a controller that performs control of mechanical equipment (e.g., a robot) including the mechanical mechanism based on the force sense values corrected in the force sense value corrector.

Control system, program, and method of controlling mechanical equipment

A robot controller includes a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor, a target value output unit that obtains a target value by performing correction processing on the target track based on the correction value and outputs the obtained target value, and a robot control unit that performs feedback control of the robot based on the target value. Further, the force control unit performs first force control when an external force direction indicated by the detected sensor value is a first direction, and performs second force control different from the first force control when the external force direction is a second direction opposite to the first direction.

A marker processing method includes: (a) binarizing a shot image; (b) labeling one or more constituents of the image detected based on the image binarized in step (a); (c) obtaining a region centroid of each of the constituents corresponding to the respective labels processed in step (b); (d) obtaining a degree of overlap of the region centroids of the constituents corresponding respectively to the labels, obtained in step (c); and (e) detecting a marker based on the degree of overlap of the region centroids obtained in step (d).

Growing community of inventors

Shiojiri, Japan

Mitsuhiro Inazumi