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:
Mar. 07, 2017
Filed:
Mar. 25, 2015
Canon Kabushiki Kaisha, Tokyo, JP;
Takayuki Ogawara, Yokohama-shi, JP;
CANON KABUSHIKI KAISHA, Tokyo, JP;
Abstract
A controlling method of a robot system is provided with highly accurately determination of an origin offset at individual joints, even with a small number of cameras. A controlling unitcontrols a robotand a camerato perform a photographing step for each of pivotal jointsandto acquire photographed data, and subsequently performs computational control. The photographing step assigns predetermined coordinate angles to multiple joints of the robot, respectively, to cause the joints to take predetermined positions and orientations, and subsequently causes the camerato photograph a markduring a process of causing the robotto rotate at one of the multiple joints from the predetermined position and orientation. The computational control identifies the joint causing a rotational axis offset among the multiple joints of the robot, based on the photographed data acquired by trajectory acquiring control.