Method of teaching robot and robot system
AssigneeCanon Kabushiki Kaisha
InventorsHideaki Suzuki, Keita Dan, Naoki Tsukabe
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Abstract
A robot system includes a robot, a vision sensor, and a controller. The vision sensor is configured to be detachably attached to the robot. The controller is configured to measure a reference object by using the vision sensor and calibrate a relative relationship between a sensor portion of the vision sensor and an engagement portion of the vision sensor, and teach the robot by referring to the relative relationship and by using the vision sensor, after the vision sensor is attached to the robot.
Claims15
A method of teaching a robot system comprising a vision sensor that comprises a sensor portion and an engagement portion, a robot, and a control portion configured to control the vision sensor and the robot, the method comprising:
- a measuring step in which the control portion measures a reference object by using the vision sensor in a state where the vision sensor is not attached to the robot;
- a calibrating step in which the control portion calibrates a relative relationship between a first coordinate system and a second coordinate system in a state where the vision sensor is not attached to the robot, wherein the first coordinate system is a coordinate system with respect to the sensor portion, and the second coordinate system is a coordinate system with respect to the engagement portion;
- and
- a teaching step in which the control portion teaches the robot by referring to the relative relationship and by using the vision sensor in a state where the vision sensor is attached to the robot.
A robot system comprising:
- a robot;
- a vision sensor that comprises a sensor portion and an engagement portion;
- and
- a control portion configured to control the vision sensor and the robot,
- wherein the control portion is configured to measure a reference object by using the vision sensor in a state where the vision sensor is not attached to the robot, and to calibrate a relative relationship between a first coordinate system and a second coordinate system in a state where the vision sensor is not attached to the robot,
- wherein the first coordinate system is a coordinate system with respect to the sensor portion, and the second coordinate system is a coordinate system with respect to the engagement portion, and
- wherein the control portion is configured to teach the robot by referring to the relative relationship and by using the vision sensor in a state where the vision sensor is attached to the robot.
Dependencies are inferred from the claim text.