Controlling method of robot system, program, recording medium, and robot system
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United States of America Patent
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Mar 7, 2017
Grant Date -
Oct 1, 2015
app pub date -
Mar 25, 2015
filing date -
Mar 31, 2014
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Abstract
A controlling method of a robot system is provided with highly accurately determination of an origin offset at individual joints, even with a small number of cameras. A controlling unit 08 controls a robot 01 and a camera 04 to perform a photographing step for each of pivotal joints 021, 031 and 051 to acquire photographed data, and subsequently performs computational control. The photographing step assigns predetermined coordinate angles to multiple joints of the robot 01, respectively, to cause the joints to take predetermined positions and orientations, and subsequently causes the camera 04 to photograph a mark 03 during a process of causing the robot 01 to rotate at one of the multiple joints from the predetermined position and orientation. The computational control identifies the joint causing a rotational axis offset among the multiple joints of the robot 01, based on the photographed data acquired by trajectory acquiring control.
First Claim
Family
- 15 United States
- 10 France
- 8 Japan
- 7 China
- 5 Korea
- 2 Other
Patent Owner(s)
- CANON KABUSHIKI KAISHA
International Classification(s)
Inventor(s)
Inventor Name | Address | # of filed Patents | Total Citations |
---|---|---|---|
Ogawara, Takayuki | Yokohama-shi, JP | 14 | 100 |
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