US 2015/0234375 A1Published application

Tool coordinate system correcting method of robot system, and robot system

AssigneeCanon Kabushiki Kaisha

InventorHiroyuki Takayama

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Abstract

An axial offset correcting method of a tool coordinate system of a robot also including an inclination offset correction is provided. A first workpiece is grasped by a tool. The operation of a robot arm is controlled by using detecting quantities of a force sensor, thereby starting a fitting of the first workpiece into a second workpiece. A position of an origin of a mechanical interface coordinate system in at least two different states during the fitting operation is obtained, thereby obtaining a position of a central axis of the first workpiece. An inclination offset quantity of the tool coordinate system is calculated based on the position of the central axis of the first workpiece. An inclination offset of the tool coordinate system is corrected based on the calculated inclination offset quantity.

Claims8

Dependent claims

A method of correcting a tool coordinate system of a robot system comprising a robot arm having a mounting surface on which a tool is mounted to be driven under a control using a tool coordinate system, and being controlled according to a mechanical interface coordinate system correlated to the mounting surface, a force sensor, and a controlling apparatus configured to control an operation of the robot arm, wherein, using a first workpiece having a convex potion and a second workpiece having a concave portion capable of fitting the convex potion, the first workpiece is grasped by the tool, to fit the concave portion of the first workpiece to the concave portion of the second workpiece, and wherein, under a controlling by the controlling apparatus, the method comprises:

grasping the first workpiece by the tool;
controlling the operation of the robot arm based on a detecting quantity of the force sensor, to start the fitting of the first workpiece to the second workpiece, to calculate a position of an origin of the mechanical interface coordinate system at least at two states during the operation of the fitting, to calculate a position of a central axis of the first workpiece;
calculating an offset quantity of an inclination of the tool coordinate system based on the position of the central axis of the first workpiece;
and
correcting the offset quantity of the inclination of the tool coordinate system based on the calculated offset of the inclination.

2 more elements

A robot system comprising:

a robot arm having a mounting surface on which a tool is mounted to be driven under a control using a tool coordinate system, and being controlled according to a mechanical interface coordinate system correlated to the mounting surface;
a force sensor;
and
a controlling apparatus configured to control an operation of the robot arm, wherein, using a first workpiece having a convex potion and a second workpiece having a concave portion capable of fitting the convex potion, the first workpiece is grasped by the tool, to fit the concave portion of the first workpiece to the concave portion of the second workpiece, and wherein the controlling apparatus controls such that
the first workpiece is grasped by the tool,
the operation of the robot arm is controlled based on a detecting quantity of the force sensor, to start the fitting of the first workpiece to the second workpiece, to calculate a position of an origin of the mechanical interface coordinate system at least at two states during the operation of the fitting, to calculate a position of a central axis of the first workpiece,
an offset quantity of an inclination of the tool coordinate system is calculated based on the position of the central axis of the first workpiece, and
the offset quantity of the inclination of the tool coordinate system is corrected based on the calculated offset of the inclination.

5 more elements

Dependencies are inferred from the claim text.