Seiko Epson Corporation

Yukihiro Yamaguchi

Taro Ishige

Kazuhiro Kosuge

Yasuhisa Hirata

Atsushi Harada

Aya Kaisumi

Koichi Yasuda

Hiroshi Miyazawa

Seiji Aiso

Kazushige Akaha

Nobuhiro Karito

Katsuji Igarashi

Koichi Hashimoto

Tatsuya Hosoda

Yoshito Miyamoto

Nobuyuki Setsuda

Kengo Yamaguchi

Kenji Matsuura

Shingo Kagami

Yuki Sato

Hiromitsu Abe

Kenji Matsunaga

Provided is a control device controlling a robot having a movable section to which a work section, performing work on a target object, is attached and which moves the work section. The control device includes a control section receiving an output from a distance measurement section measuring a distance between the target object and the work section and controlling the movable section in accordance with a plurality of settings including a first section and a second section and a reception section selectively receiving (a) the first setting in which, when the work section is being moved by the movable section based on an output from the distance measurement section, the control section stops moving the work section when the distance or a rate of a change of the distance falls outside a preset reference range and (b) the second setting in which, when the work section is being moved based on the output from the distance measurement section, the control device continues to move the work section not based on the output from the distance measurement section when the distance or the rate of change falls outside the reference range.

Control device controlling robot and robot system

A robot control device that controls a robot and includes a processor which extracts a contour of a target based on an image of the target captured by an imaging device, generates a point sequence corresponding to the contour, and converts coordinates of the point sequence into coordinates in a robot coordinate system. Further, a robot control device that controls a robot includes a processor which extracts a contour of a target based on an image of the target captured by an imaging device and a predetermined instruction, generates a point sequence corresponding to the contour, and converts coordinates of the point sequence into coordinates in a robot coordinate system.

Robot control device and robot system

A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at at least three contact points.

Robot system

A control device comprising a processor configured to receive information on a captured image from an imaging device capturing an image from an operator, control a robot including a robot arm on which a stamp that forms a marker on an object and an end effector that performs work on a work target are allowed to be provided by being replaced, perform correlation between a robot coordinate system that is a coordinate system relating to the robot and an image coordinate system that is a coordinate system relating to the captured image, and perform the correlation based on a plurality of coordinates of a predetermined portion of the robot arm in the robot coordinate system and a plurality of coordinates of the plurality of markers in the image coordinate system when the plurality of markers are formed on the object by the stamp.

Control device and robot system

A robot includes a movable part, and the movable part performs an action based on a position of a first marker obtained using first position and attitude of the movable part when a first image containing the first marker is captured by an imaging unit provided in the movable part and second position and attitude of the movable part when a second image containing the first marker is captured by the imaging unit.

Robot, robot control apparatus and robot system

A robot includes an instruction receiving unit that receives a calibration initiation instruction, and an arm that changes a positional relationship between a marker which indicates a reference point and a capturing unit when the calibration initiation instruction is received, in which the calibration of a coordinate system of the capturing unit and a coordinate system of the robot is performed on the basis of an image in which the marker is captured by the capturing unit after the positional relationship between the capturing unit and the marker changes.

Robot and robot system

A control device is capable of controlling each of a robot having a robot arm, and an imaging portion which is capable of capturing a first reference marker, a second reference marker, and a third reference marker, any one of the imaging portion, the first reference marker, the second reference marker, and the third reference marker is provided in the robot, and a posture of a reference surface parallel to a plane which passes through the first reference marker, the second reference marker, and the third reference marker, is acquired based on a first image in which the first reference marker is captured by the imaging portion, a second image in which the second reference marker is captured by the imaging portion, and a third image which captures the third reference marker by the imaging portion.

Control device, robot, and robot system

A robot includes: a local coordinate system deriving portion which derives a local coordinate system having two shafts which are parallel to a work plane and orthogonal to each other, based on an image in which markers illustrating three or more points on the work plane which is not horizontal are captured; and a control parameter obtaining portion which obtains control parameters via the local coordinate system.

Robot, robot control device, and robot system

An image acquisition unit acquires an image including an object, and a controller starts a visual servo using the acquired image, on the basis of at least one of an error in calibration, an error in installation of a robot, an error resulting from the rigidity of the robot, an error of a position where the robot has gripped the object, an error regarding imaging, and an error regarding a work environment. Additionally, the controller starts the visual servo when the distance between one point of a working unit of the robot and the object is equal to or greater than 2 mm.

Robot control device, robot system, and robot

A robot includes an arm, and the arm is controlled using an offset of a reference point of a tool, the tool being attached to the arm, the offset being set based on a first state, in which a first image, in which the reference point is located at a control point of an image, can be taken by a imaging section, and a second state, in which a second image, in which the tool is rotated around a rotational axis passing through a position of the reference point in the state in which the reference point is located at the control point, can be taken by the imaging section, and controlled based on a third image, which is taken by the imaging section, and in which the control point is shifted from the reference point, in a process of a transition from the first state to the second state.

Robot, robot control device, and robotic system

A robot performs, after i-th (i is a natural number) work, i+1-th work different from the i-th work and performs, after j-th (j is a natural number satisfying j&#x2260;i) work, j+1-th work different from the j-th work. The robot performs the i+1-th work after the i-th work without changing information concerning correction in a joint of the robot during the i-th work, performs robot calibration after the j-th work, and performs the j+1-th work after performing the robot calibration.

Robot, control apparatus, robot system, and control method

A robot includes, a holding unit configured to hold an object, an image pickup unit, and a predetermined first portion of the robot. The image pickup unit picks up images of the holding unit and the object using the first portion as a background.

Robot, robot system, and robot control apparatus

A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at least three contact points.

Robot

A robot includes a gripping section and a main body section to which the pair of finger sections are attached, having one end sections of the pair of finger sections rotatably connected to each other around a first rotating shaft disposed at a position separate from the main body section, and adapted to open and close the pair of finger sections by swinging the other side of the pair of finger sections on a plane parallel to a mounting surface on which an object is mounted centered on the first rotating shaft to thereby grip the object, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and grip the object with the gripping section at at least three contact points.

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Matsumoto, Japan

Yukihiro Yamaguchi