Fanuc Corporation

Yuusuke Murata

Hiromitsu Takahashi

Shouta Takizawa

The present invention facilitates detection of an object imaged by a three-dimensional sensor. The image processing device includes: a distance calculating unit that, on the basis of three-dimensional data acquired by the three-dimensional sensor, calculates a distance between each of points in the three-dimensional data and a reference plane; a distance image creating unit that creates a distance image having pixel values constituted by values each calculated on the basis of the distance calculated by the distance calculating unit; and an image processing unit that carries out image processing on the distance image. The reference plane may be a bearing surface bearing the object or a surface parallel with the bearing surface. The reference plane may also be a surface of the object. The image processing device may include the three-dimensional sensor.

Image processing device and image processing method

Provided is an off-line simulation system that enables performance of efficient vision correction training. This vision correction training system for vision correction training is provided with a head mount display capable of displaying an image in a virtual space, and a teaching device communicably connected to the head mount display. The teaching device has: a vision correction unit that, on the basis of a captured image captured by a camera after the position of a workpiece has been moved, performs vision correction on a predetermined movement; and a correction confirmation unit that confirms that the vision correction is appropriately performed on the predetermined movement.

Off-line simulation system

A robot controller, a measurement system and a calibration method, by which measurement regions for improving positioning accuracy of a robot can be appropriately generated. First and second measurement regions are specified in a movable range of the robot, the calibration of a mechanical parameter of the robot is executed in each measurement region, and calibration results are stored as first and second calibration results. When the difference between the calibration results exceeds a predetermined threshold, a third measurement region is specified between the first and second measurement regions, and the calibration is further executed in the third measurement region. The result of the further calibration is stored as a third calibration result.

Robot controller for executing calibration, measurement system and calibration method

A robot control apparatus includes a storage unit that stores an operating program and a kinematic parameter used in a formula representing a relationship between displacement of each drive axis of a robot and a position and an orientation of a leading end of the robot and a drive unit that operates the drive axis of the robot based on the operating program and the kinematic parameter stored in the storage unit. The storage unit stores the kinematic parameter before updating, and the drive unit corrects position data of at least one teaching point in the operating program based on the kinematic parameter before updating, stored in the storage unit, and the present kinematic parameter.

Robot control apparatus and robot control method

A measurement system able to perform measurement by a simpler manner when performing measurement a plurality of times for a plurality of targets. The measurement system utilizes the light receiving device to measure targets fastened to the machine tool. The robot is moved so that the difference between a target on a light receiving surface of the light receiving device and an image acquired by the light receiving device in the state where the machine tool is stopped at each stop position and the robot is placed in the measurement position and posture becomes within a predetermined error. A plurality of stop positions and a plurality of end point positions and postures after the movement are used as the basis to simultaneously find the error of the mechanical parameters of the robot and the relative relationship between the robot coordinate system &#x3a3;b and the machine tool coordinate system &#x3a3;m.

Growing community of inventors

Yamanashi, Japan

Yuusuke Murata