Robot and robot system
AssigneeFanuc Corporation
InventorKeita Suyama
Life of this patent
Estimating the term…
Abstract
A robot includes a wrist unit that has a tool attached to a distal end face thereof and that changes the orientation of the tool, the tool performing work on a work target device secured to an installation surface; and a movable unit that changes the three-dimensional position of the wrist unit. The movable unit includes an arm that has a longitudinal axis and the wrist unit is attached to the distal end thereof, and a visual sensor that has a field of view oriented in a direction intersecting the longitudinal axis of the arm is attached to the a positon closer to the base end than the distal end face of the wrist unit is.
Claims8
A robot system comprising:
- a controller;
- a work target device that includes a visual target at a predetermined position and that is secured to an installation surface;
- a robot that is operated according to a teaching program executed by the controller and that includes a tool performing work on the work target device, a wrist unit, and a movable unit, the tool being attached to a distal end of the wrist unit, and the wrist unit being attached to a distal end of the movable unit;
- and
- a visual sensor that is attached to the movable unit and that acquires an image;
- wherein the controller is configured to:
- determine whether or not the visual target is included in an acquired image acquired by the visual sensor;
- in response to determining that the visual target is included in the acquired image, measure a relative positional relationship between the robot and the work target device from the acquired image and compensate an operating position of the robot in the teaching program on the basis of the measured relative positional relationship;
- and
- in response to determining that the visual target is not included in the acquired image, move the movable unit so that the visual target is included in the acquired image.
Dependencies are inferred from the claim text.