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US 10,882,189 B2Granted
Control device and robot system
AssigneeSeiko Epson Corporation
InventorsKenji Matsuura, Meguru Yamauchi
Life of this patent
Estimating the term…
Abstract
A control device that controls driving of a robot, the control device includes a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to: display a posture setting guide for guiding information input for obtaining a posture offset of a tool provided on the robot, on a display; and control the driving of the robot based on the posture offset of the tool.
Claims20
A control device that controls driving of a robot, the robot having an end effector holding a tool for working with a target object on a work base, the control device comprising:
- a memory configured to store computer-executable instructions, a robot coordinate system of the robot, and an original tool coordinate system of the tool;
- and
- a processor configured to execute the computer-executable instructions so as to:
- cause the end effector holding the tool to move to a first position in which a tip of a teaching tool disposed on the work base contacts a first point of the tool;
- measure a first coordinate of the first point of the tool and a first posture of the tool with respect to the robot coordinate system and the original tool coordinate system when the end effector is located at the first position;
- cause the end effector holding the tool to move to a second position in which the tip of the teaching tool contacts a second point of the tool;
- measure a second coordinate of the second point of the tool and a second posture of the tool with respect to the robot coordinate system and the original tool coordinate system when the end effector is located at the second position;
- cause the end effector holding the tool to move to a third position in which the tip of the teaching tool contacts a third point of the tool;
- measure a third coordinate of the third point of the tool and a third posture of the tool with respect to the robot coordinate system and the original tool coordinate system when the end effector is located at the third position;
- calibrate the original tool coordinate system based on the measured first, second, and third coordinates of the tool and the measured first, second, and third postures of the tool and create a calibrated tool coordinate system of the tool;
- and
- control the driving of the robot based on the robot coordinate system and the calibrated tool coordinate system to cause the tool to work with the target object.
9 more elements
A robot system comprising:
- a robot;
- an input interface configured to receive instructions from an operator;
- a display;
- and
- a control device, the control device including:
- a memory configured to store computer-executable instructions, a robot coordinate system of the robot, and an original tool coordinate system of the tool;
- and
- a processor configured to execute the computer-executable instructions so as to:
- wherein the processor is configured to:
- cause the end effector holding the tool to move to a first position in which a tip of a teaching tool disposed on the work base contacts a first point of the tool;
- measure a first coordinate of the first point of the tool and a first posture of the tool with respect to the robot coordinate system and the original tool coordinate system when the end effector is located at the first position;
- cause the end effector holding the tool to move to a second position in which the tip of the teaching tool contacts a second point of the tool;
- measure a second coordinate of the second point of the tool and a second posture of the tool with respect to the robot coordinate system and the original tool coordinate system when the end effector is located at the second position;
- cause the end effector holding the tool to move to a third position in which the tip of the teaching tool contacts a third point of the tool;
- measure a third coordinate of the third point of the tool and a third posture of the tool with respect to the robot coordinate system and the original tool coordinate system when the end effector is located at the third position;
- calibrate the original tool coordinate system based on the measured first, second, and third coordinates of the tool and the measured first, second, and third postures of the tool and create a calibrated tool coordinate system of the tool;
- and
- control the driving of the robot based on the robot coordinate system and the calibrated tool coordinate system to cause the tool to work with the target object.
15 more elements
Dependencies are inferred from the claim text.