Robot control system, control program, and control method
AssigneeOMRON Corporation
InventorsTakafumi Okura, Masahiko Nakano, Kei Yasuda
Life of this patent
Estimating the term…
Abstract
A robot control system includes: a robot on which a camera and a hand for gripping a first workpiece are mounted; a displacement generation mechanism disposed between a tip of the robot and the camera; a first control module configured to provide the robot with a control instruction for causing the first workpiece to approach a second workpiece; a vibration calculation module configured to calculate magnitude of vibration caused in the camera when the robot causes the first workpiece to approach the second workpiece; and a second control module configured to provide the displacement generation mechanism with a control instruction for compensating for the vibration calculated by the vibration calculation module.
Claims17
A robot control system comprising:
- a robot on which a camera and a hand for gripping a first workpiece are mounted;
- a displacement generation mechanism disposed between a tip of the robot and the camera;
- and
- one or more controllers configured to:
- provide the robot with a control instruction for causing the first workpiece to approach a second workpiece;
- calculate a moving speed of the first workpiece based on an image captured by the camera;
- calculate a previous position of the first workpiece based on the calculated moving speed of the first workpiece;
- calculate a magnitude of vibration caused in the camera when the robot causes the first workpiece to approach the second workpiece, based on the calculated previous position and a current position of the first workpiece;
- and
- provide the displacement generation mechanism with a control instruction for compensating for the calculated magnitude of vibration.
A non-transitory storage medium storing a control program thereon, which when executed by a computer of a robot control system including a robot on which a camera and a hand for gripping a first workpiece are mounted and a displacement generation mechanism disposed between a tip of the robot and the camera, causes the computer to perform:
- providing the robot with a control instruction for causing the first workpiece to approach a second workpiece;
- calculating a moving speed of the first workpiece based on an image captured by the camera;
- calculating a previous position of the first workpiece based on the calculated moving speed of the first workpiece;
- calculating a magnitude of vibration caused in the camera when the robot causes the first workpiece to approach the second workpiece, based on the calculated previous position and a current position of the first workpiece;
- and
- providing the displacement generation mechanism with a control instruction for compensating for the calculated magnitude of vibration.
A control method executed in a robot control system including a robot on which a camera and a hand for gripping a first workpiece are mounted and a displacement generation mechanism disposed between a tip of the robot and the camera, the control method comprising:
- providing the robot with a control instruction for causing the first workpiece to approach a second workpiece;
- calculating a moving speed of the first workpiece based on an image captured by the camera;
- calculating a previous position of the first workpiece based on the calculated moving speed of the first workpiece;
- calculating a magnitude of vibration caused in the camera when the robot causes the first workpiece to approach the second workpiece, based on the calculated previous position and a current position of the first workpiece;
- and
- providing the displacement generation mechanism with a control instruction for compensating for the calculated magnitude of vibration.
Dependencies are inferred from the claim text.