Robot system, and control apparatus and method thereof

A robot system control apparatus comprising:

• at least one processor communicatively-coupled to a memory;
• an arm capable of controlling a position and orientation of an arm tip portion;
• a holding unit, which is attached to the arm tip portion and which comprises a holding mechanism configured to hold a target object, capable of controlling a relative position and orientation of a first target object held by the holding mechanism to the arm tip portion;
• a first position and orientation measurement unit configured to measure the relative position and orientation of the first target object held by the holding unit to the arm tip portion;
• a second position and orientation measurement unit configured to measure a second position and orientation of a second target object to be fitted or assembled with the first target object;
• and
• a correction unit configured to correct a position and orientation of the holding unit by controlling the holding unit, without changing controlling amount of the arm based on a result of both the first position and orientation measurement unit and the second position and orientation measurement unit while the arm is still moving after the holding unit holds the first target object.

A method for controlling a robot system comprising:

• at least one processor communicatively-coupled to a memory;
• an arm capable of controlling a position and orientation of an arm tip portion;
• a holding unit, which is attached to the arm tip portion and which comprises a holding mechanism configured to hold a target object, capable of controlling a relative position and orientation of a first target object held by the holding mechanism to the arm tip portion;
• a first position and orientation measurement unit configured to measure the relative position and orientation of the first target object held by the holding unit to the arm tip portion;
• a second position and orientation measurement unit configured to measure a second position and orientation of a second target object to be fitted or assembled with the first target object;
• and
• a correction unit configured to correct a position and orientation of the holding unit by controlling the holding unit, without changing controlling amount of the arm based on a result of both the first position and orientation measurement unit and the second position and orientation measurement unit while the arm is still moving after the holding unit holds the first target object.

A non-transitory computer-readable medium storing a computer-executable process for controlling a robot system comprising:

• at least one processor communicatively-coupled to a memory;
• an arm capable of controlling a position and orientation of an arm tip portion;
• a holding unit, which is attached to the arm tip portion and which comprises a holding mechanism configured to hold a target object, capable of controlling a relative position and orientation of a first target object held by the holding mechanism to the arm tip portion;
• a first position and orientation measurement unit configured to measure the relative position and orientation of the first target object held by the holding unit to the arm tip portion;
• a second position and orientation measurement unit configured to measure a second position and orientation of a second target object to be fitted or assembled with the first target object;
• and
• a correction unit configured to correct a position and orientation of the holding unit by controlling the holding unit, without changing controlling amount of the arm based on a result of both the first position and orientation measurement unit and the second position and orientation measurement unit while the arm is still moving after the holding unit holds the first target object.

A robot system comprising:

• at least one processor communicatively-coupled to a memory;
• an arm capable of controlling a position and orientation of an arm tip portion;
• a hand, which is attached to the arm tip portion and which comprises a grasping mechanism configured to grasp an operation target, capable of controlling a relative position and orientation of the operation target grasped by the grasping mechanism to the arm tip portion;
• a position and orientation measurement unit configured to measure the relative position and orientation of the operation target grasped by the hand to the arm tip portion while the arm tip portion is moving with grasping the operation target;
• a correction unit configured to correct the position and orientation of the grasped operation target while the arm tip portion is moving with grasping the operation target;
• and
• a second position and orientation measurement unit configured to, when performing a fitting or assembly operation for a grasped operation target on a second operation target, measure the position and orientation of the second operation target,
• wherein the correction unit is configured to determine the predetermined relative position and orientation using both a result of the position and orientation measurement of the operation target performed by the position and orientation measurement unit, and a result of the position and orientation measurement of the second operation target performed by the second position and orientation measurement unit.

A robot system comprising:

• at least one processor communicatively-coupled to a memory;
• an arm capable of controlling a position and orientation of an arm tip portion;
• a hand, which is attached to the arm tip portion and which comprises a grasping mechanism configured to grasp an operation target, capable of controlling a relative position and orientation of the operation target grasped by the grasping mechanism to the arm tip portion;
• a position and orientation measurement unit configured to measure the relative position and orientation of the operation target grasped by the hand to the arm tip portion while the arm tip portion is moving with grasping the operation target;
• a correction unit configured to correct the position and orientation of the grasped operation target while the arm tip portion is moving with grasping the operation target;
• and
• a second position and orientation measurement unit configured to, when performing a fitting or assembly operation for a grasped operation target on a second operation target, measure the position and orientation of the second operation target,
• wherein the correction unit is configured to select a movement path of the arm tip portion from among a plurality of predetermined paths using a result of position and orientation measurement of the grasped operation target and a result of position and orientation measurement of the second operation target performed by the second position and orientation measurement unit.

A robot system comprising:

• at least one processor communicatively-coupled to a memory;
• an arm capable of controlling a position and orientation of an arm tip portion;
• a hand, which is attached to the arm tip portion and which comprises a grasping mechanism configured to grasp an operation target, capable of controlling a relative position and orientation of the operation target grasped by the grasping mechanism to the arm tip portion;
• a position and orientation measurement unit configured to measure the relative position and orientation of the operation target grasped by the hand to the arm tip portion while the arm tip portion is moving with grasping the operation target;
• a correction unit configured to correct the position and orientation of the grasped operation target while the arm tip portion is moving with grasping the operation target;
• a second position and orientation measurement unit configured to, when performing a fitting or assembly operation for the grasped operation target on a second operation target, measure the position and orientation of the second operation target,
• wherein the correction unit is configured to, during position and orientation correction of the grasped operation target, select a movement path of the operation target from among a plurality of predetermined paths based on both a result of position and orientation measurement of the grasped operation target, and a result of position and orientation measurement of the second operation target performed by the second position and orientation measurement unit.