Robot calibrating apparatus and robot calibrating method, and robot apparatus and method of controlling robot apparatus

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United States of America Patent

PATENT NO 9669545
SERIAL NO

14488078

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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A robot calibrating apparatus calibrating a command value for a robot body 2 whose position and orientation is controlled based on the command value, includes an operating unit configured to calculate a calibrating function of calibrating the command value, based on the difference between an ideal position and orientation of the robot body 2 and an actual position and orientation of the robot body 2. The ideal position and orientation is operated based on a command value RHTcom for calibration used during calibration or on a control result value which is a result of control according to the command value. The actual position and orientation is operated based on a measurement value RHT′meas for calibration acquired by a camera 3 arranged at a prescribed relative position and orientation with respect to the robot body 2 during the robot body 2 being controlled according to the command value for calibration.

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Patent Owner(s)

  • CANON KABUSHIKI KAISHA

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Amano, Shingo Kawasaki, JP 12 97
Suzuki, Hideaki Kawasaki, JP 289 4066

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