US 12,409,004 B2Granted

Master-slave system and controlling method

AssigneeKawasaki Jukogyo Kabushiki Kaisha

InventorsMasayuki Kamon, Hiroki Takahashi, Kai Shimizu, Yuki Takayama, Jun Fujimori, Hiroki Kinoshita, Masahiko Akamatsu, Takanori Kozuki

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Abstract

A master-slave system includes a master unit, a slave unit, and a control device. The control device includes first circuitry that determines a first relationship that is a relationship between a slave coordinate system and an object coordinate system, second circuitry that determines a second relationship that is a relationship between a master coordinate system and the object coordinate system, and third circuitry that outputs an operational command for causing the slave unit to operate according to operational information of the master unit, the first relationship, and the second relationship. When the object coordinate system is moved, the first circuitry newly determines the first relationship after the movement based on the moved object coordinate system and the slave coordinate system, and the second-circuitry determines the second relationship after the movement, as a relationship similar to the second relationship before the movement.

Claims14

Dependent claims

A system, comprising:

a camera;
an operation device including an operation end, and an operation detector that detects operational information that is information inputted by a force being applied to the operation end and outputs the operational information;
a robot including an end effector that applies an action to an object in a target area, and an arm that moves the end effector;
and
a control device including circuitry configured to:
determine that a timer has reached an image timing;
in response to determination that the timer has reached the image timing:
control the camera to capture an image of the target area;
generate three-dimensional image data from the image:
determine a first coordinate system relationship between a robot coordinate system set to the robot and an object coordinate system set to the object and store the first coordinate system relationship in a memory, wherein the object coordinate system is detected based on the three-dimensional image data;
determine a second coordinate system relationship between an operation coordinate system set to the operation device and the object coordinate system and store the second coordinate system relationship in the memory;
detect movement of the object indicating a change in the object coordinate system;
determine that a first difference between an origin position of the object coordinate system prior to the change and the object position of the object coordinate system after the change is greater than a first threshold or that a second difference between a posture of the object coordinate system prior to the change and the posture of the object coordinate system after the change is greater than a second threshold;
and
in response to determination that the first difference is greater than the first threshold or the second difference is greater than the second threshold:
adjust the object coordinate system;
update the first coordinate system relationship and the second coordinate system relationship based on the adjustment to the object coordinate system;
and then
store the first coordinate system relationship and the second coordinate system relationship in the memory;
receive the operational information in the operation coordinate system from the operation device;
translate the operational information in the operation coordinate system to the robot coordinate system to generate an operational command in the robot coordinate system based on the first coordinate system relationship and the second coordinate system relationship;
and
output the operational command to the robot to control the end effector and the arm.

20 more elements

A method, comprising:

determining that a timer has reached an image timing;
in response to the determining indicating that the timer has reached the image timing:
controlling a camera to capture an image of the target area;
generating three-dimensional image data from the image;
determining a first coordinate system relationship between an object coordinate system and a robot coordinate system, wherein the object coordinate system is set to an object to be processed by a robot, the robot coordinate system is set to the robot, the robot includes an end effector that applies an action to the object, and the robot includes an arm that moves the end effector, and the object coordinate system is detected based on the three-dimensional image data;
storing the first coordinate system relationship in a memory;
determining a second coordinate system relationship between an operation coordinate system and the object coordinate system;
storing the second coordinate system relationship in the memory;
detecting movement of the object indicating a change in the object coordinate system;
determining that a first difference between an origin position of the object coordinate system prior to the change and the object position of the object coordinate system after the change is greater than a first threshold or that a second difference between a posture of the object coordinate system prior to the change and the posture of the object coordinate system after the change is greater than a second threshold;
and
in response to determination that the first difference is greater than the first threshold or the second difference is greater than the second threshold:
adjusting the object coordinate system;
updating the first coordinate system relationship and the second coordinate system relationship based on the adjustment to the object coordinate system;
and then
storing the first coordinate system relationship and the second coordinate system relationship in the memory;
receiving operational information in the operation coordinate system from an operation device, the operational information having been detected by an operation detector of the operation device, and the operational information being information input by a force applied to an operation end of the operation device;
translating the operational information in the operation coordinate system to the robot coordinate system to generate an operational command in the robot coordinate system based on the first coordinate system relationship and the second coordinate system relationship;
and
outputting the operational command to the robot to control the end effector and the arm.

17 more elements

Dependencies are inferred from the claim text.