Robot system, control apparatus of robot system, control method of robot system, imaging apparatus, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorsYasuharu Maeda, Manabu Takayama
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Abstract
A robot system including a robot apparatus and an imaging apparatus includes a control apparatus configured to control the robot apparatus and the imaging apparatus, and the control apparatus controls, based on a path in which a predetermined part of the robot apparatus is moved, a movement of the imaging apparatus to image the predetermined part even if the robot apparatus is moved.
Claims35
A robot system including a robot and an imaging apparatus, the robot system comprising:
- a control apparatus configured to control the robot and the imaging apparatus, and
- wherein the imaging apparatus is arranged at a position where the imaging apparatus is not moved together with a predetermined part of the robot, and
- wherein the control apparatus obtains, based on a path along which the predetermined part is scheduled to be moved, control data for controlling the imaging apparatus to keep imaging the predetermined part from a position where the imaging apparatus is arranged even if the robot is moved.
A method of manufacturing an article using a robot system including a robot and an imaging apparatus, the robot system comprising a control apparatus configured to control the robot and the imaging apparatus, wherein the imaging apparatus is arranged at a position where the imaging apparatus is not moved together with a predetermined part of the robot, and wherein the control apparatus obtains, based on a path along which the predetermined part is scheduled to be moved, control data for controlling the imaging apparatus to keep imaging the predetermined part from a position where the imaging apparatus is arranged even if the robot is moved, the method comprising:
- manufacturing an article by causing the predetermined part to execute any one of assembly, transportation, and painting while causing the imaging apparatus to image the predetermined part based on the control data.
A control method of a robot system including a robot and an imaging apparatus,
- wherein the robot system includes a control apparatus configured to control the robot and the imaging apparatus,
- wherein the imaging apparatus is arranged at a position where the imaging apparatus is not moved together with a predetermined part of the robot, and
- wherein the control apparatus obtains, based on a path along which the predetermined part is scheduled to be moved, control data for controlling the imaging apparatus to keep imaging the predetermined part from a position where the imaging apparatus is arranged even if the robot is moved.
A control apparatus configured to control a robot system including a robot and an imaging apparatus,
- wherein the imaging apparatus is arranged at a position where the imaging apparatus is not moved together with a predetermined part of the robot, and
- wherein the control apparatus obtains, based on a path along which the predetermined part is scheduled to be moved, control data for controlling the imaging apparatus to keep imaging the predetermined part from a position where the imaging apparatus is arranged even if the robot is moved.
An operation apparatus configured to operate a robot system including a robot and an imaging apparatus,
- wherein the imaging apparatus is arranged at a position where the imaging apparatus is not moved together with a predetermined part of the robot, and
- wherein, based on a path along which the predetermined part is scheduled to be moved, control data for controlling the imaging apparatus to keep imaging the predetermined part from a position where the imaging apparatus is arranged even if the robot is moved is obtained.
A control method of an operation apparatus configured to operate a robot system including a robot and an imaging apparatus,
- wherein the imaging apparatus is arranged at a position where the imaging apparatus is not moved together with a predetermined part of the robot, and
- wherein, based on a path along which the predetermined part is scheduled to be moved, control data for controlling the imaging apparatus to keep imaging the predetermined part from a position where the imaging apparatus is arranged even if the robot is moved is obtained.
An imaging apparatus configured to image a robot,
- wherein the imaging apparatus is arranged at a position where the imaging apparatus is not moved together with a predetermined part of the robot, and
- wherein, based on a path along which the predetermined part is scheduled to be moved, control data for controlling the imaging apparatus to keep imaging the predetermined part from a position where the imaging apparatus is arranged even if the robot is moved is obtained.
A control method of an imaging apparatus configured to image a robot,
- wherein the imaging apparatus is arranged at a position where the imaging apparatus is not moved together with a predetermined part of the robot, and
- wherein, based on a path along which the predetermined part is scheduled to be moved, control data for controlling the imaging apparatus to keep imaging the predetermined part from a position where the imaging apparatus is arranged even if the robot is moved is obtained.
A non-transitory computer-readable storage medium storing a control program for executing a control method of a robot system including a robot and an imaging apparatus,
- wherein the robot system includes a control apparatus configured to control the robot and the imaging apparatus,
- wherein the imaging apparatus is arranged at a position where the imaging apparatus is not moved together with a predetermined part of the robot, and
- wherein, based on a path along which the predetermined part is scheduled to be moved, a process of obtaining control data for controlling the imaging apparatus to keep imaging the predetermined part from a position where the imaging apparatus is arranged even if the robot is moved is executed.
Dependencies are inferred from the claim text.