Canon Kabushiki Kaisha

Shingo Amano

Hideaki Suzuki

Toshihiko Mimura

Kei Watanabe

Satoshi Kokubo

Nobuaki Fujii

Isamu Okuma

Masamichi Ueno

Kazuki Otake

Yasuaki Tokunaga

An external input device is employed, the external input device being configured to operate a robot system including an imaging apparatus capable of changing an imaging point of view and a robot apparatus, the external input device includes a display area, a robot apparatus operation unit configured to operate the robot apparatus, an imaging operation unit configured to operate the imaging apparatus, and an image display unit configured to display an image captured by the imaging apparatus, wherein the robot apparatus operation unit, the imaging operation unit, and the image display unit are displayed on the display area, and wherein the image display unit is disposed between the robot apparatus operation unit and the imaging operation unit.

External input device, robot system, control method of robot system, control program, and recording medium

A method includes controlling a robot body performed by a controller. The robot body includes a finger, a driving unit, and a detection unit. The driving unit is configured to move the finger. The detection unit is configured to output a signal corresponding to a state of the finger moved by the driving unit. The method includes causing the finger to hold a workpiece, causing the robot body to start a predetermined operation while causing the finger to keep holding the workpiece, if a detected value based on the signal outputted from the detection unit is within a first range, and causing the robot body to continue to perform the predetermined operation until completion of the predetermined operation, if the detected value is within a second range in the predetermined operation. The second range is different from the first range.

Method of controlling robot body, method of manufacturing product, robot apparatus, and recording medium

There is provided a robot hand that grips and positions a work with a certain gripping force, and that rapidly conveys the work to execute assembling after gripping the work.

Robot hand, control method of robot hand, and robot apparatus

A method of controlling a holding apparatus configured to hold plural kinds of target objects by plural fingers in plural relative postures includes calculating, on a basis of information about holding force of the fingers in a relative posture for a target object, an amount of positional deviation of the target object held by the fingers, and correcting, on a basis of the amount of positional deviation calculated in the calculating, a position of the target object held by the fingers.

Method of controlling holding apparatus, holding apparatus, and robot apparatus

A robot calibrating apparatus calibrating a command value for a robot bodywhose position and orientation is controlled based on the command value, includes an operating unit configured to calculate a calibrating function of calibrating the command value, based on the difference between an ideal position and orientation of the robot bodyand an actual position and orientation of the robot body. The ideal position and orientation is operated based on a command valueHfor calibration used during calibration or on a control result value which is a result of control according to the command value. The actual position and orientation is operated based on a measurement valueHfor calibration acquired by a cameraarranged at a prescribed relative position and orientation with respect to the robot bodyduring the robot bodybeing controlled according to the command value for calibration.

Robot calibrating apparatus and robot calibrating method, and robot apparatus and method of controlling robot apparatus

A control apparatus calculates a calibration value based on a position in the robot coordinate systemand a position in the vision coordinate system, for at least three teaching points set within a calibration area. Markersof two of the three teaching points have the same inclination in relation to an optical axis of a cameraas 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 markerin 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 cameracan be reduced.

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Kawasaki, Japan

Shingo Amano