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US 2001/0010539 A1Published application
Apparatus for correcting movement path of a robot and a method therefor
AssigneeFanuc Corporation
InventorsTARO ARIMATSU, KAZUHIKO AKIYAMA
Life of this patent
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Abstract
A tool (2) mounted on the wrist end of a robot (1) is placed in a predetermined photographing position (P1), and the front and side faces of the tool (2) are photographed by cameras (41, 42) to obtain three-dimensional shape data of the tool (2). The extent of deformation of the tool (2) is detected by comparing the obtained shape data and reference shape data, and a programmed movement path for the robot is corrected depending on the extent of deformation.
Claims8
An apparatus for correcting movement path of a robot, comprising:
- a camera for photographing a tool mounted on the wrist end of a robot;
- an image processing apparatus for obtaining the shape data of the tool by processing images of said tool picked up by said camera;
- and
- a robot control apparatus for correcting taught path in accordance with the shape data of the tool obtained by said image processing apparatus and controlling the robot to make it move along the corrected taught path.
1 more element
A movement path correcting method for a robot, comprising steps of:
- locating a tool mounted on the wrist end of a robot and a camera for photographing said tool in predetermined relative positions;
- fetching and processing images through the camera to obtain shape data of the tool from the processed image data;
- comparing the obtained tool shape data with reference tool shape data to detect the deformation of the tool;
- and
- correcting a path taught by a program in accordance with the result of the detection.
2 more elements
Dependencies are inferred from the claim text.