Method of teaching robot and robot system
AssigneeCanon Kabushiki Kaisha
InventorsHideaki Suzuki, Keita Dan, Naoki Tsukabe
Life of this patent
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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.
Claims20
A method of controlling a robot system that includes a robot, the method comprising:
- obtaining visual information of an object held at a reference position with a sensor portion of a vision sensor having an engagement portion that is configured to be engaged to a portion of the robot;
- calculating a positional relationship between the sensor portion of the vision sensor and the engagement portion of the vision sensor based on the visual information of the object and position information of the reference position with a controller;
- and
- adjusting a teach point of the robot based on the positional relationship with the controller,
- wherein, when performing work with the robot in which the teach point is adjusted, the engagement portion of the visual sensor is engaged with the portion of the robot, and the sensor portion of the vision sensor and the portion of the robot move in accordance with a change in a posture of the robot.
A method of controlling a robot system that includes a robot, the method comprising:
- obtaining visual information of an object held at a reference position with a sensor portion of a vision sensor having an engagement portion that is configured to be engaged to a portion of the robot;
- calculating a positional relationship between the sensor portion of the vision sensor and the engagement portion of the vision sensor based on the visual information of the object and position information of the reference position with a controller;
- and
- adjusting a posture of the robot based on the positional relationship with the controller,
- wherein, when performing a work with the robot in which posture is adjusted, the engagement portion of the visual sensor is engaged with the portion of the robot, and the sensor portion of the vision sensor and the portion of the robot move in accordance with a change in the posture of the robot.
Dependencies are inferred from the claim text.