Robot calibrating apparatus and robot calibrating method, and robot apparatus and method of controlling robot apparatus

A calibrating method of calibrating a robot system including a robot body and a camera which is positioned relative to the robot body, the robot body including a plurality of joints and supporting a hand, the method, executed by a processor of a processing apparatus, comprising:

• acquiring a plurality of measurement values of a reference object for calibration of the robot system, by the camera taking images of a plurality of markers included in the reference object for calibration of the robot system while controlling the robot body to move through a plurality of positions and orientations based on a plurality of command values for calibration of the robot system;
• acquiring a first calibration value representing a relationship between a camera coordinate system and a hand tip coordinate system and a second calibration value representing a relationship between a coordinate system of a base end part of the robot body and a coordinate system of the reference object for calibration of the robot system from the plurality of command values for calibration of the robot system and the plurality of measurement values of the reference object for calibration of the robot system;
• and
• acquiring a calibrating function that represents a relationship between a command value for the robot body and a prediction value of an actual position and orientation of the robot body based on a difference between a plurality of positions and orientations of the robot body based on the plurality of command values for calibration of the robot system and the prediction value of the actual position and orientation of the robot body calculated using the plurality of measurement values, the first calibration value and the second calibration value.

A controlling method of controlling a robot system including a robot body and a camera which is positioned relative to the robot body, the robot body including a plurality of joints and supporting a hand, a processor of a controlling apparatus executing the method, comprising:

• acquiring a plurality of measurement values of a reference object for calibration of the robot system, by the camera taking images of a plurality of markers included in the reference object for calibration of the robot system while controlling the robot body to move through a plurality of positions and orientations based on a plurality of command values for calibration of the robot system;
• acquiring a first calibration value representing relationship between a camera coordinate system and a hand tip coordinate system, and a second calibration value representing a relationship between a coordinate system of a base end part of the robot body and a coordinate system of the reference object for calibration of the robot system from the plurality of command values for calibration of the robot system and the plurality of measurement values of the reference object for calibration of the robot system;
• and
• acquiring a calibrating function that represents a relationship between a command value for the robot body and a prediction value of an actual position and orientation of the robot body based on a difference between a plurality of positions and orientations of the robot body based on the plurality of command values for calibration of the robot system and the prediction value of the actual position and orientation of the robot body calculated using the plurality of measurement values, the first calibration value and the second calibration value.

A controlling apparatus for a robot system including a robot body and a camera which is positioned relative to a platform to which a base end part of the robot body is fixed, the robot body including a plurality of joints and supporting a hand, the controlling apparatus comprising a processing apparatus including a processor configured to execute:

• a process of acquiring a plurality of measurement values of a reference object for calibration of the robot system, by the camera taking images of a plurality of markers included in the reference object for calibration of the robot system while controlling the robot body supporting in the reference object for calibration of the robot system to move through a plurality of positions and orientations based on a plurality of command values for calibration of the robot system;
• a process of acquiring a third calibration value representing a relationship between a camera coordinate system and a coordinate system of the base end part of the robot body and a fourth calibration value representing a relationship between a hand tip coordinate system and a coordinate system of the reference object for calibration of the robot system from the plurality of command values for calibration of the robot system and the plurality of measurement values of the reference object for calibration of the robot system;
• and
• a process of acquiring a calibrating function that represents a relationship between a command value for the robot body and a prediction value of an actual position and orientation of the robot body, based on a difference between a plurality of positions and orientations of the robot body based on the plurality of command values for calibration of the robot system and the prediction value of the actual position and orientation of the robot body calculated using the plurality of measurement values, the third calibration value and the fourth calibration value.

A calibrating method of calibrating a robot system including a robot body and a camera which is positioned relative to a platform to which a base end part of the robot body is fixed, the robot body including a plurality of joints and supporting a hand, the method, executed by a processor of a processing apparatus, comprising:

• acquiring a plurality of measurement values of a reference object for calibration of the robot system, by the camera taking images of a plurality of markers included in the reference object for calibration of the robot system while controlling the robot body supporting in the reference object for calibration of the robot system to move through a plurality of positions and orientations based on a plurality of command values for calibration of the robot system;
• acquiring a third calibration value representing a relationship between a camera coordinate system and a coordinate system of the base end part of the robot body and a fourth calibration value representing a relationship between a hand tip coordinate system and a coordinate system of the reference object for calibration of the robot system from the plurality of command values for calibration of the robot system and the plurality of measurement values of the reference object for calibration of the robot system;
• and
• acquiring a calibrating function that represents a relationship between a command value for the robot body and a prediction value of an actual position and orientation of the robot body, based on a difference between a plurality of positions and orientations of the robot body based on the plurality of command values for calibration of the robot system and the prediction value of the actual position and orientation of the robot body calculated using the plurality of measurement values, the third calibration value and the fourth calibration value.

A controlling method of controlling a robot system including a robot body and a camera which is positioned relative to a platform to which a base end part of the robot body is fixed, the robot body including a plurality of joints and supporting a hand, a processor of a controlling apparatus executing the method, comprising:

• acquiring a plurality of measurement values of a reference object for calibration of the robot system, by the camera taking images of a plurality of markers included in the reference object for calibration of the robot system while controlling the robot body supporting in the reference object for calibration of the robot system to move through a plurality of positions and orientations based on a plurality of command values for calibration of the robot system;
• acquiring a third calibration value representing a relationship between a camera coordinate system and a coordinate system of the base end part of the robot body and a fourth calibration value representing a relationship between a hand tip coordinate system and a coordinate system of the reference object for calibration of the robot system from the plurality of command values for calibration of the robot system and the plurality of measurement values of the reference object for calibration of the robot system;
• and
• acquiring a calibrating function that represents a relationship between a command value for the robot body and a prediction value of an actual position and orientation of the robot body, based on a difference between a plurality of positions and orientations of the robot body based on the plurality of command values for calibration of the robot system and the prediction value of the actual position and orientation of the robot body calculated using the plurality of measurement values, the third calibration value and the fourth calibration value.