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US 10,889,003 B2Granted
Robot system, robot controller, and method for controlling robot
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsTakuya Fukuda, Yukio Hashiguchi, Noriko Abe
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Abstract
A robot system includes a robot, a robot work environment in which the robot works, and a robot controller including circuitry that stores position information indicating a position of each of measured robot postures in the robot work environment, obtains a measured position of each of the measured robot postures based on a detection result obtained by a sensor, and corrects a movement position of the robot based on the measured position.
Claims20
A robot system, comprising:
- a robot;
- a robot work environment in which the robot is configured to work;
- and
- a robot controller comprising circuitry configured to
- store position information indicating a position of each of measured robot postures in the robot work environment,
- obtain a measured position of each of the measured robot postures based on a detection result obtained by a sensor, and
- correct a movement position of the robot based on the measured position,
- wherein
- the circuitry of the robot controller is configured to set a plurality of corrected coordinate systems that is based on respective work origins, each of the corrected coordinate systems being set based on a transformation combination of a shear transformation and a translation.
6 more elements
A robot controller, comprising:
- a user frame storage configured to store a plurality of work origins in a robot work environment in which a robot is configured to work;
- and
- circuitry configured to obtain a measured position of each of the work origins based on a detection result obtained by a sensor, and correct, based on the measured position, position information of each of the work origins stored in the user frame storage, wherein
- the circuitry is configured to set a plurality of corrected coordinate systems that is based on the respective work origins, each of the corrected coordinate systems being set based on a transformation combination of a shear transformation and a translation.
1 more element
A method for controlling a robot, comprising:
- storing position information indicating, for a robot controller, a position of each of measured robot postures in a robot work environment in which a robot is configured to work;
- obtaining a measured position of each of the measured robot postures based on a detection result obtained by a sensor;
- correcting the position information of each of the measured robot postures based on the measured position;
- and
- setting a plurality of corrected coordinate systems that is based on respective work origins, each of the corrected coordinate systems being set based on a transformation combination of a shear transformation and a translation.
2 more elements
Dependencies are inferred from the claim text.