Operation adjustment apparatus for adjusting operation of robot apparatus and operation adjustment method for adjusting operation of robot apparatus

An operation adjustment apparatus for adjusting an operation of a robot apparatus including a robot, the operation adjustment apparatus comprising:

• a high-speed camera configured to capture an image of at least one of the robot and an operation tool attached to the robot, wherein the operation tool is configured to operate in response to an operation of the robot;
• and
• a controller including
• a processor configured to control the operation of the robot and the operation tool, and receive images captured by the high-speed camera, and
• a memory for storing an operation program for the robot and the operation tool,
• wherein the controller is configured to send an operation command to the robot at a predetermined control cycle,
• the high-speed camera is configured to capture the images at a time interval that coincides with the predetermined control cycle,
• the controller is configured to
• process the images captured at the time interval that coincides with the predetermined control cycle,
• determine whether the robot reaches a target position for starting an operation of the operation tool based on a result of processing of the images, and
• in response to determining that the robot reaches the target position, send a command for starting the operation of the operation tool,
• the memory stores a determination range of a target time at which the operation tool starts a further operation when the robot reaches the target position,
• the high-speed camera is configured to capture a further image of the operation tool when the robot reaches the target position, and
• the controller is configured to
• detect a time at which the operation tool starts the further operation based on further images captured at a further time interval identical to the predetermined control cycle,
• determine whether the time at which the operation tool starts the further operation deviates from the determination range of the target time, and
• in response to the time at which the operation tool starts the further operation deviating from the determination range of the target time, correct a command statement for the time at which the operation tool starts the operation in the operation program, based on a difference between the determination range of the target time and the time at which the operation tool starts the further operation.

An operation adjustment method for adjusting an operation of a robot apparatus based on an image captured by a high-speed camera, wherein

• the robot apparatus includes a robot and an operation tool attached to the robot, wherein the operation tool is configured to operate in response to an operation of the robot, and
• the operation adjustment method comprises:
• capturing, by the high-speed camera, images of at least one of the robot and the operation tool at a time interval that coincides with a control cycle for sending an operation command to the robot;
• processing the images captured by the high-speed camera;
• determining whether at least one of the operation of the robot and an operation of the operation tool is a predetermined operation based on a result of said processing of the images;
• and
• in response to determining that at least one of the operation of the robot and the operation of the operation tool is not the predetermined operation, correcting a command statement included in an operation program to correspond the operation of the robot and the operation of the operation tool to the predetermined operation, and
• the operation adjustment method further comprises:
• storing a determination range of a target time at which the operation tool starts a further operation when the robot reaches a target position,
• capturing, by the high-speed camera, a further image of the operation tool when the robot reaches the target position,
• detecting a time at which the operation tool starts the further operation based on further images captured at a further time interval identical to the predetermined control cycle,
• determining whether the time at which the operation tool starts the further operation deviates from the determination range of the target time, and
• in response to the time at which the operation tool starts the further operation deviating from the determination range of the target time, correcting a further command statement for the time at which the operation tool starts the operation in the operation program, based on a difference between the determination range of the target time and the time at which the operation tool starts the further operation.