Abstract: A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms.

Abstract: An object picking system for picking up, one by one, a plurality of objects.

Abstract: A work model (or an image) is displayed on an image plane of a robot simulator (201), and a measuring portion and a measuring method are designated (202, 203) and a work shape and a work loading state are designated (204), and then it is judged whether or not the measuring portion and the measuring method are good (205). When the measuring portion and the measuring method are good, a program is generated and the processing is completed (207, 208). When the measuring portion and the measuring method are not good, an alarm is given (206), and the continuation (207) or the repetition (201) of the processing is directed. At the time of analyzing the program, the loading (101), the analysis and display of the measuring portion and the measuring method (102, 103) and the work information (104) are designated, and then it is judged whether or not the measuring portion and the measuring method, which have been analyzed, are good (105).

Abstract: A surface of a workpiece, from which the burr is removed, is traced when a machining tool is pressed onto the surface of the workpiece under force control so as to find the positional data of the surface shape (S1). This positional data is corrected by an error caused by a bend of a robot (S2). The thus obtained positional data is compared with the target shape of the surface, from which the burr is removed, obtained from CAD data (S6, S10). A shift of the surface shape in the normal line direction is found (S7, S11). The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position (S8), the shift end position and the shift size (S14). A machining program is made which is composed of a pass connecting the burr end position with the burr start position and also composed of a cutting pass for removing the burr, and the thus made machining program is executed (S16, S17).

Abstract: A re-calibration method and device for a three-dimensional visual sensor of a robot system, whereby the work load required for re-calibration is mitigated. While the visual sensor is normal, the visual sensor and a measurement target are arranged in one or more relative positional relations by a robot, and the target is measured to acquire position/orientation information of a dot pattern etc. by using calibration parameters then held. During re-calibration, each relative positional relation is approximately reproduced, and the target is again measured to acquire feature amount information or position/orientation of the dot pattern etc. on the image. Based on the feature amount data and the position information, the parameters relating to calibration of the visual sensor are updated. At least one of the visual sensor and the target, which are brought into the relative positional relation, is mounted on the robot arm.

Abstract: A robot system comprising a first robot (R1) with a camera of a visual sensor mounted thereon and a second robot (R2) having a feature portion, is disclosed. The robots (R1, R2) are set in the first initial states (G1), from which the first robot (R1) or the second robot (R2) is moved so that the image of the feature portion assumes a target position or size (G2), thereby to store the present positions (P1, Q1) (G3). The same process is repeated N times (N?3) while changing the positions of the initial states of the robots (G4). Based on the positions P1, . . . , PN and Q1, . . . , QN obtained by the N repetitive above processes, a matrix T indicating the coordinate conversion from ?b to ?b? is determined. One or two robot control units may be provided. As a result, the calibration to determine relative positions between the robots can be carried out easily and with high accuracy, thereby reducing the jig-related cost.

Abstract: Three-dimensional measurement capable of reducing an error in coupling robot and sensor coordinate systems and adverse effects of backlash in a robot. A position/orientation of the robot for obtaining a measurement value on the sensor coordinate system is set beforehand with a workpiece positioned at a reference position. Then, the robot is moved to a preparatory measurement position, a preparatory measurement for the workpiece positioned at an arbitrary position is performed (SV1), and based on a measurement result, a main measurement position is calculated (SV2). Next, an auxiliary position is determined (SV3), which serves as a start position from which a movement to the main measurement position can be made without making a reversal of respective axes. The robot is moved to the auxiliary position (SV4), and to the main measurement position (SV5), and a measurement for the workpiece is made and a measurement result is stored (SV6).

Abstract: The image of a tool center point (31) caught by a camera (light-receiving device) 4 from two initial positions is moved to a predetermined point, by a predetermined point moving process, at the center of a light-receiving surface thereby to acquire robot positions (Qf1, Qf2), based on which the direction of the view line (40) is determined. Next, the robot is moved to the position where the position (Qf1) is rotated by 180 degrees around the Z axis of a coordinate system (?v1) thereby to execute the predetermined point moving process. After rotational movement, a robot position (Qf3) is acquired. The midpoint between the position (Qf1) and the position (Qf3) is determined as the origin of a coordinate system (?v2). Using the position and the posture of the view line (40), the position of the tool center point (31) is determined. Thus, the position of the tool center point with respect to the tool mounting surface can be determined using a fixed light-receiving device.

Abstract: A measuring system for easily detecting Misjudged Detection (M/D). A camera for measurement attached to a robot is used to obtain an image for measurement of a workpiece so as to measure and detect a set point. Next, a camera for validation is used to obtain an image for validation of the workpiece so as to measure and detect the set point. One camera may capture both of the images for measurement and validation, by utilizing movement of the robot. It is judged whether the measured results obtained from the images represent the same point on the workpiece or not. If yes, the measured results are judged to be valid, otherwise, the measured results are judged to be invalid and an exception process, such as a retrial, is executed. The images by the camera may also be used for judging a moving path of the robot during measurement of a large object.

Abstract: A three-dimensional visual sensor is disclosed. A two-dimensional image of a two-dimensional feature portion (15) including a point (11) determined on a work (13) is acquired, and N (N?2) points are determined. A slit of light is projected by a projector (1), an image of a projected portion (19) is obtained, and M (M?2) points are determined. The three-dimensional position of the intersection point between each straight line connecting the N points and a point in a camera (2) and the slit of light plane is determined on the sensor coordinate system, and transformed to the data on the reference coordinate system (on or parallel to the slit plane). The three-dimensional positions of M points are similarly subjected to coordinate transform to the data on the reference coordinate system. Straight lines (or curves) defined by the M and N points are determined, respectively, by the least squares method.

Abstract: A measuring system which can easily measure a three-dimensional position of a target to be measured using a light receiving device mounted to a manipulator of a robot. When the manipulator is positioned at a first position, a moving process for moving an image of the target imaged by the light receiving device or a camera to a center of a light receiving surface of the camera is executed. Next, the manipulator positioned at the first position is moved, without changing the orientation of the camera, to a second position where the distance between the camera and the target is different to that at the first position. After that, the moving process is executed again. Based on the position of the manipulator after the process, the orientation of a coordinate system ?v1 representing the direction of a visual line is calculated. Then, the manipulator is rotated by 180 degree about Z-axis of the coordinate system ?v1 and the moving process is executed again.

Abstract: A teaching position correcting device which can easily correct, with high precision, teaching positions after shifting at least one of a robot and an object worked by the robot. Calibration is carried out using a vision sensor (i.e., CCD camera) that is mounted on a work tool. The vision sensor measures three-dimensional positions of at least three reference marks not aligned in a straight line on the object. The vision sensor is optionally detached from the work tool, and at least one of the robot and the object is shifted. After the shifting, calibration (this can be omitted when the vision sensor is not detached) and measuring of three-dimensional positions of the reference marks are carried out gain. A change in a relative positional relationship between the robot and the object is obtained using the result of measuring three-dimensional positions of the reference marks before and after the shifting respectively.

Abstract: An image of a workpiece (10) conveyed by a feeding conveyor (3) is taken by a camera (7) of a visual sensor to detect a position of the workpiece. The moving amount of the feeding conveyor (3) is detected by a pulse coder (8). When a request for picking up a workpiece is issued to a plurality of robots (RB1, RB2), it is judged whether or not the robots can grip the workpiece positioned most downstream, based on current positions of the robots and a current position of the workpiece. The workpiece should be gripped before it reaches the downstream boundary line (TR1e, TR2e) in the tracking range of the robot. If the workpiece can be gripped, the robot picks up the workpiece. Based on the robot operating speed, the feeding speed of the feeding conveyor (3) is adjusted to reduce the waiting time of the plurality of robots (RB1, RB2) and to reduce the number of failures to hold the workpiece as far as possible.

Abstract: A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.

Abstract: A robot automatically moving a distal end portion of a robot arm to an arbitrary target position, and method therefor. A camera mounted at the distal end portion of the robot arm captures an image of an object. A position R1 corresponding to the target Q is specified in the image. Assuming that the number of pixels between the position R1 and the center of an image screen is equal to N1, a distance W1 observed at a distance L0 at the time of calibration is determined as W1=C0·N1, where C0 is a transformation coefficient. The camera is moved by the distance W1 in an X axis direction toward the target Q. A position R2 corresponding to the target W is specified in the image. The number, N2, of pixels between the position R2 and the screen center is determined. A motion vector q is determined from C0, N1, N2 and L0. The camera is moved according to the motion vector q. The robot is positioned at a position where the camera center is opposed to the target Q at the distance L0.

Abstract: An object taking out apparatus capable of taking out randomly stacked objects with high reliability and low cost. An image of one of workpieces as objects of taking out at a reference position is captured by a video camera. Whole feature information and partial feature information are extracted from the captured image by a model creating section and a partial model creating section, respectively, and stored in a memory with information on partial feature detecting regions. An image of randomly stacked workpieces is captured and analyzed to determine positions/orientations of images of the respective workpieces using the whole feature information. Partial feature detecting regions are set to the images of the respective workpieces using the determined positions/orientations of the respective workpieces and information on partial feature detecting regions stored in the memory.

Abstract: A workpiece is gripped by a robot hand and the image of the workpiece is captured by a camera without being stopped. An image processing device detects the position and posture of a characteristic portion of the workpiece. A robot controller stores the present position of the robot once or more times synchronously with the output of an image pick-up trigger instruction. On the basis of the present position of the robot and a detection result, the relative position and posture between a flange of the robot and the workpiece characteristic portion is detected. The relative position and posture is compared with that observed when the workpiece is gripped correctly, to determine a gripping error. If the gripping error exceeds a permissible error, the robot is stopped. If the gripping error is equal to or less than the permissible error, a taught position where the workpiece is to be released is corrected so as to cancel the adverse effect of the gripping error.

Abstract: An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.

Abstract: Three-dimensional measurement capable of reducing an error in coupling robot and sensor coordinate systems and adverse effects of backlash in a robot. A position/orientation of the robot for obtaining a measurement value on the sensor coordinate system is set beforehand with a workpiece positioned at a reference position. Then, the robot is moved to a preparatory measurement position, a preparatory measurement for the workpiece positioned at an arbitrary position is performed (SV1), and based on a measurement result, a main measurement position is calculated (SV2). Next, an auxiliary position is determined (SV3), which serves as a start position from which a movement to the main measurement position can be made without making a reversal of respective axes. The robot is moved to the auxiliary position (SV4), and to the main measurement position (SV5), and a measurement for the workpiece is made and a measurement result is stored (SV6).

Abstract: A workpiece taking-out apparatus performs snap with a camera of a three-dimensional visual sensor in a robot position for snap and captures an image in a personal computer. The workpiece taking-out apparatus detects workpieces to find a line of sight of the camera for each workpiece, decides an area for height measurement by a range finder to save height data in the area, and finds an intersection of line of sight data of the camera and height distribution for each detected workpiece to find a posture of the workpiece from the height data around it. Then, the workpiece taking-out apparatus decides a workpiece to be taken out this time from the position and the posture and decides a measurement position of the three-dimensional visual sensor close to the workpiece.