Robot control system of fitting of a plurality of points
AssigneeFanuc Corporation
InventorMasafumi Ooba
Life of this patent
Estimating the term…
Abstract
A robot control system includes a relative relationship calculating section configured to calculate a relative relationship between a first member and a second member at least at one of a plurality of points based on data acquired by a vision sensor, a contact point determination section configured to determine a contact point between the first member and the second member based on the calculated relative relationship, a control point setting section configured to set a control point based on the determined contact point, and a fitting control section configured to control fitting of the plurality of points based on the set control point.
Claims13
A robot control system comprising:
- a robot;
- a hand attached to an end of the robot and configured to grip a second member to be fitted at a plurality of points to a first member;
- a vision sensor disposed near the hand or at a fixed position separate from the robot;
- a relative relationship calculating section configured to calculate a relative relationship between the first member and the second member at least at one of the plurality of points based on data acquired by the vision sensor;
- a contact point determination section configured to determine a contact point between the first member and the second member based on the calculated relative relationship;
- a control point setting section configured to set a control point based on the determined contact point;
- and
- a fitting control section configured to control fitting of the plurality of points based on the set control point,
- wherein when a plurality of the contact points are present, the control point setting section is configured to set a control point at a midpoint in a vicinity of the respective contact points, and the midpoint is not on the first and second members.
Dependencies are inferred from the claim text.