Robot control device, robot system, and robot
AssigneeSeiko Epson Corporation
InventorsHiroshi Miyazawa, Yukihiro Yamaguchi, Nobuhiro Karito
Life of this patent
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Abstract
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.
Claims6
A robot system configured to operate in a work environment, the robot system comprising:
- a robot having an arm and an actuator;
- and
- a robot control device, wherein the robot control device includes:
- an image acquisition unit that acquires an image including an object, and
- a motion controller configured to (i) control the robot using a first command input that is not received from a visual servo and (ii) control a start timing at which control of the robot switches to the visual servo, wherein switching to the visual servo includes controlling the robot using a second command input received from the visual servo instead of the first command input, and wherein the motion controller is configured to determine the start timing at which the control of the robot switches to the visual servo in accordance with an installation error caused by movement of the robot.
Dependencies are inferred from the claim text.