Robot system, control device therefor, control method, and control program
AssigneeFanuc Corporation
InventorsMikito HANE, Tadanori SUZUKI
Life of this patent
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Abstract
A robot system includes a tool that performs prescribed machining on a workpiece, a robot that moves the tool relative to the workpiece, a camera that acquires a first image of a machining mark formed on the workpiece as a result of the machining, and a control device. The control device includes at least one memory and at least one processor. The memory stores a plurality of second images of machining marks formed when the machining is performed while switching parameters relating to a relative orientation of the workpiece and the tool, in association with the parameters. The processor compares the first image and the second images, thereby estimating a parameter corresponding to the machining mark in the first image.
Claims13
A robot system, comprising:
- a tool that performs prescribed machining on a workpiece, a robot that moves the tool relative to the workpiece,
- a camera that acquires a first image of a machining mark formed on the workpiece as a result of the machining, and
- a control device, wherein:
- the control device includes at least one memory and at least one processor;
- the memory stores a plurality of second images of machining marks formed when the machining is performed while switching parameters relating to a relative orientation of the workpiece and the tool, in association with the parameters;
- and
- the processor compares the first image and the second images, thereby estimating a parameter corresponding to the machining mark in the first image.
A control device for a robot system, comprising:
- a tool that performs prescribed machining on a workpiece,
- a robot that moves the tool relative to the workpiece,
- a camera that acquires a first image of a machining mark formed on the workpiece as a result of the machining, and
- at least one memory and at least one processor, wherein:
- the memory stores a plurality of second images of machining marks formed when the machining is performed while switching parameters relating to a relative orientation of the workpiece and the tool, in association with the parameters;
- and
- the processor compares the first image and the second images, thereby estimating a parameter corresponding to the machining mark in the first image.
A control method for a robot system, the system comprising a tool that performs prescribed machining on a workpiece, a robot that moves the tool relative to the workpiece, and a camera that acquires a first image of a machining mark formed on the workpiece as a result of the machining,
- the control method comprising:
- storing a plurality of second images of machining marks formed when the machining is performed while switching parameters relating to a relative orientation of the workpiece and the tool, in association with the parameters;
- and
- comparing the first image and the second images, thereby estimating a parameter corresponding to the machining mark in the first image.
A non-transitory computer-readable medium having a control program stored therein for a robot system comprising a tool that performs prescribed machining on a workpiece, a robot that moves the tool relative to the workpiece, and a camera that acquires a first image of a machining mark formed on the workpiece as a result of the machining,
- the control program causing a computer to execute:
- storing a plurality of second images of machining marks formed when the machining is performed while switching parameters relating to a relative orientation of the workpiece and the tool, in association with the parameters;
- and
- comparing the first image and the second images, thereby estimating a parameter corresponding to the machining mark in the first image.
Dependencies are inferred from the claim text.