Robot, robot control device, and robot system
AssigneeSeiko Epson Corporation
InventorsTaro ISHIGE, Atsushi HARADA, Yukihiro YAMAGUCHI
Life of this patent
Estimating the term…
Abstract
A robot includes: a local coordinate system deriving portion which derives a local coordinate system having two shafts which are parallel to a work plane and orthogonal to each other, based on an image in which markers illustrating three or more points on the work plane which is not horizontal are captured; and a control parameter obtaining portion which obtains control parameters via the local coordinate system.
Claims12
A robot comprising:
- a local coordinate system deriving portion which derives a local coordinate system having two shafts which are parallel to a work plane and orthogonal to each other, based on an image in which markers illustrating three or more points on the work plane which is not horizontal are captured;
- and
- a control parameter obtaining portion which obtains control parameters via the local coordinate system.
A robot control device which controls a robot which processes a workpiece on a work plane which is not horizontal, the device comprising:
- a local coordinate system deriving portion which derives a local coordinate system having two shafts which are parallel to a work plane and orthogonal to each other, based on an image in which markers illustrating three or more points on the work plane are captured;
- and
- a control parameter obtaining portion which obtains control parameters of the robot via the local coordinate system.
A robot system comprising:
- a robot which processes a workpiece on a work plane which is not horizontal;
- a robot control device which controls the robot;
- a local coordinate system deriving portion which derives the local coordinate system having two shafts which are parallel to a work plane and orthogonal to each other, based on an image in which markers illustrating three or more points on the work plane are captured;
- and
- a control parameter obtaining portion which obtains control parameters of the robot via the local coordinate system.
Dependencies are inferred from the claim text.