The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 07, 2020
Filed:
Jun. 08, 2017
Canon Kabushiki Kaisha, Tokyo, JP;
Masatoshi Sasaki, Tokyo, JP;
CANON KABUSHIKI KAISHA, Tokyo, JP;
Abstract
A robot apparatus includes: a robotic arm provided with a robotic hand capable of changing its position and its orientation by using joints; a visual sensor which measures a position or an orientation of a gripped object gripped with the robotic hand at a measurement teaching point; and a control device. The control device controls the position or the orientation of the gripped object when the gripped object is attached to an attachment target object at a corrected teaching point corrected based on a measurement result by the visual sensor. In this case, the control device determines a measurement teaching point, where the measurement with the visual sensor takes place, such that a driving direction of each of the joints from the measurement teaching point to the corrected teaching point is set to a definite driving direction.