Robot control apparatus, robot control method, program, and recording medium

A robot control method for controlling a robot body including an arm unit having a plurality of link members coupled with one another and a hand unit which is disposed at an end of the arm unit, which grasps a first workpiece, and which attaches the grasped first workpiece to a second workpiece, the robot control method, comprising:

• an image capturing step of obtaining image data by capturing an image of the robot body, the first workpiece, and the second workpiece using a camera;
• a first coordinate system calculation step of calculating a first coordinate system representing a position and orientation of the hand unit in a camera coordinate system of the camera from the image data;
• a second coordinate system calculation step of calculating a second coordinate system representing a position and orientation of the first workpiece in the camera coordinate system of the camera from the image data;
• a third coordinate system calculation step of calculating a third coordinate system representing a position and orientation of the second workpiece in the camera coordinate system of the camera from the image data;
• a first coordinate transformation matrix calculation step of calculating a first coordinate transformation matrix used to transfer the second coordinate system into the first coordinate system;
• a second coordinate transformation matrix calculation step of calculating a second coordinate transformation matrix used to transfer the third coordinate system into the first coordinate system;
• a target-point setting step of setting, in a coordinate system of the first workpiece, coordinate data of a target point having a constant position and orientation relative to the first workpiece;
• an instruction-point setting step of setting, in a coordinate system of the second workpiece, coordinate data of an instruction point which allows the target point to pass in a constant position and orientation relative to the second workpiece;
• a first coordinate transformation step of performing coordinate transformation on the coordinate data of the target point set in the target-point setting step using the first coordinate transformation matrix;
• a second coordinate transformation step of performing coordinate transformation on the coordinate data of the instruction point set in the instruction-point setting step using the second coordinate transformation matrix;
• an operation instruction generation step of generating operation instructions for operating the robot body so that the robot body traces a trajectory obtained such that the coordinate data of the target point which has been subjected to the coordinate transformation in the first coordinate transformation step passes a position of the coordinate data of the instruction point which has been subjected to the coordinate transformation in the second coordinate transformation step;
• and
• an operation instruction output step of outputting the operation instructions generated in the operation instruction generation step to the robot body.

A robot control method for controlling a robot body which is fixed to a base and which includes an arm unit having a plurality of link members coupled with one another and a hand unit which is disposed at an end of the arm unit, which grasps a first workpiece, and which attaches the grasped first workpiece to a second workpiece, the robot control method, comprising:

• an image capturing step of obtaining image data by capturing an image of the base, the first workpiece, and the second workpiece using a camera;
• a first coordinate system calculation step of calculating a base coordinate system representing a position and orientation of the base in a camera coordinate system of the camera and thereafter calculating a first coordinate system representing a position and orientation of the hand unit in the camera coordinate system of the camera from the base coordinate system in accordance with the direct kinematics;
• a second coordinate system calculation step of calculating a second coordinate system representing a position and orientation of the first workpiece in the camera coordinate system of the camera from the image data;
• a third coordinate system calculation step of calculating a third coordinate system representing a position and orientation of the second workpiece in the camera coordinate system of the camera from the image data;
• a first coordinate transformation matrix calculation step of calculating a first coordinate transformation matrix used to transfer the second coordinate system into the first coordinate system;
• a second coordinate transformation matrix calculation step of calculating a second coordinate transformation matrix used to transfer the third coordinate system into the first coordinate system;
• a target-point setting step of setting, in a coordinate system of the first workpiece, coordinate data of a target point having a constant position and orientation relative to the first workpiece;
• an instruction-point setting step of setting, in a coordinate system of the second workpiece, coordinate data of an instruction point which allows the target point to pass in a constant position and orientation relative to the second workpiece;
• a first coordinate transformation step of performing coordinate transformation on the coordinate data of the target point set in the target-point setting step using the first coordinate transformation matrix;
• a second coordinate transformation step of performing coordinate transformation on the coordinate data of the instruction point set in the instruction-point setting step using the second coordinate transformation matrix;
• an operation instruction generation step of generating operation instructions for operating the robot body so that the robot body traces a trajectory obtained such that the coordinate data of the target point which has been subjected to the coordinate transformation in the first coordinate transformation step passes a position of the coordinate data of the instruction point which has been subjected to the coordinate transformation in the second coordinate transformation step;
• and
• an operation instruction output step of outputting the operation instructions generated in the operation instruction generation step to the robot body.

A program which causes a computer which controls a robot body including an arm unit having a plurality of link members coupled with one another and a hand unit which is disposed at an end of the arm unit, which grasps a first workpiece, and which attaches the grasped first workpiece to a second workpiece to execute:

• an image capturing step of obtaining image data by capturing an image of the robot body, the first workpiece, and the second workpiece using a camera;
• a first coordinate system calculation step of calculating a first coordinate system representing a position and orientation of the hand unit in a camera coordinate system of the camera from the image data;
• a second coordinate system calculation step of calculating a second coordinate system representing a position and orientation of the first workpiece in the camera coordinate system of the camera from the image data;
• a third coordinate system calculation step of calculating a third coordinate system representing a position and orientation of the second workpiece in the camera coordinate system of the camera from the image data;
• a first coordinate transformation matrix calculation step of calculating a first coordinate transformation matrix used to transfer the second coordinate system into the first coordinate system;
• a second coordinate transformation matrix calculation step of calculating a second coordinate transformation matrix used to transfer the third coordinate system into the first coordinate system;
• a target-point setting step of setting, in a coordinate system of the first workpiece, coordinate data of a target point having a constant position and orientation relative to the first workpiece;
• an instruction-point setting step of setting, in a coordinate system of the second workpiece, coordinate data of an instruction point which allows the target point to pass in a constant position and orientation relative to the second workpiece;
• a first coordinate transformation step of performing coordinate transformation on the coordinate data of the target point set in the target-point setting step using the first coordinate transformation matrix;
• a second coordinate transformation step of performing coordinate transformation on the coordinate data of the instruction point set in the instruction-point setting step using the second coordinate transformation matrix;
• an operation instruction generation step of generating operation instructions for operating the robot body so that the robot body traces a trajectory obtained such that the coordinate data of the target point which has been subjected to the coordinate transformation in the first coordinate transformation step passes a position of the coordinate data of the instruction point which has been subjected to the coordinate transformation in the second coordinate transformation step;
• and
• an operation instruction output step of outputting the operation instructions generated in the operation instruction generation step to the robot body.

A program which causes a computer which controls a robot body which is fixed to a base and which includes an arm unit having a plurality of link members coupled with one another and a hand unit which is disposed at an end of the arm unit, which grasps a first workpiece, and which attaches the grasped first workpiece to a second workpiece to execute:

• an image capturing step of obtaining image data by capturing an image of the base, the first workpiece, and the second workpiece using a camera;
• a first coordinate system calculation step of calculating a base coordinate system representing a position and orientation of the base in a camera coordinate system of the camera and thereafter calculating a first coordinate system representing a position and orientation of the hand unit in the camera coordinate system of the camera from the base coordinate system in accordance with the direct kinematics;
• a second coordinate system calculation step of calculating a second coordinate system representing a position and orientation of the first workpiece in the camera coordinate system of the camera from the image data;
• a third coordinate system calculation step of calculating a third coordinate system representing a position and orientation of the second workpiece in the camera coordinate system of the camera from the image data;
• a first coordinate transformation matrix calculation step of calculating a first coordinate transformation matrix used to transfer the second coordinate system into the first coordinate system;
• a second coordinate transformation matrix calculation step of calculating a second coordinate transformation matrix used to transfer the third coordinate system into the first coordinate system;
• a target-point setting step of setting, in a coordinate system of the first workpiece, coordinate data of a target point having a constant position and orientation relative to the first workpiece;
• an instruction-point setting step of setting, in a coordinate system of the second workpiece, coordinate data of an instruction point which allows the target point to pass in a constant position and orientation relative to the second workpiece;
• a first coordinate transformation step of performing coordinate transformation on the coordinate data of the target point set in the target-point setting step using the first coordinate transformation matrix;
• a second coordinate transformation step of performing coordinate transformation on the coordinate data of the instruction point set in the instruction-point setting step using the second coordinate transformation matrix;
• an operation instruction generation step of generating operation instructions for operating the robot body so that the robot body traces a trajectory obtained such that the coordinate data of the target point which has been subjected to the coordinate transformation in the first coordinate transformation step passes a position of the coordinate data of the instruction point which has been subjected to the coordinate transformation in the second coordinate transformation step;
• and
• an operation instruction output step of outputting the operation instructions generated in the operation instruction generation step to the robot body.