Back to results
US 6,414,711 B1Granted
Apparatus for correcting movement path of a robot and a method therefor
AssigneeFanuc Corporation
InventorsTaro Arimatsu, Kazuhiko Akiyama
Life of this patent
Estimating the term…
Abstract
A tool mounted on the wrist end of a robot is placed in a predetermined photographing position, and the front and side faces of the tool are photographed by cameras to obtain three-dimensional shape data of the tool. The extent of deformation of the tool 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 a movement path of a robot, comprising:
- a camera photographing a tool mounted on a wrist end of the robot, the robot operable in three dimensions;
- an image processing apparatus obtaining shape data of the tool by processing images of said tool photographed by said camera and determining an extent of deformation of the tool by comparing the shape data with previously stored reference shape data;
- and
- a robot control apparatus correcting deviation from a taught path of the robot based upon the extent of deformation of the tool determined in accordance with the shape data of the tool obtained by said image processing apparatus and controlling the robot to move along a corrected taught path, wherein the shape of the tool is recognized before starting operation by the robot and the deviation from the taught path attributable to the deformation of the tool is automatically corrected.
1 more element
A movement path correcting method for a robot, comprising:
- locating a tool mounted on a wrist end of the robot and a camera for photographing said tool in predetermined relative positions, the robot operable in three dimensions;
- 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 previously stored reference tool shape data to detect an extent of deformation of the tool;
- and
- correcting a deviation from a path of the robot taught by a program in accordance with the result of the detection, wherein the shape of the tool is recognized before starting operation by the robot and the deviation from the taught path attributable to the extent of the deformation of the tool is automatically corrected.
2 more elements
Dependencies are inferred from the claim text.