Abstract: A robot tool deformation amount calculator 300 includes an image acquisition unit 341 which acquires a first image in which a first measurement target 10 positioned at a tool attachment surface 122 of a tip of a robot 100 is captured and a second image in which a second measurement target 20 positioned on a tip 202 of the tool 200 is captured, a first measurement target position calculation unit 342 which calculates a position of the first measurement target 10 based on the first image, a second measurement target position calculation unit 343 which calculates a position of the second measurement target 20 based on the second image, and a tool deformation amount calculation unit 345 which calculates a deformation amount of the tool 2(X) in accordance with a posture of the robot 100 based on the position of the first measurement target 10 and the position of the second measurement target 20.

Abstract: A processor of a device, for obtaining the position of a visual sensor in a control coordinate system: causes a robot to operate to change the attitude of the visual sensor or a marker by a first amount of change in attitude; obtains the position of the visual sensor in the control coordinate system as a trial measurement position on the basis of image data of the marker captured by the visual sensor before and after the change in the attitude; causes the robot to operate to change the attitude by a second amount of change in attitude that is greater than the first amount of change in attitude; and obtains the position of the visual sensor in the control coordinate system as an actual measurement position on the basis of image data of the marker captured by the visual sensor before and after the change in attitude.

Abstract: A device to correct a teaching position of a robot includes an orientation change data acquisition section to acquire orientation change data indicating a change amount in an orientation of a workpiece with respect to the robot due to a change of an arrangement, based on first and second position data of the robot, a third position data acquisition section to acquire third position data of the robot when a hand-tip portion is arranged in a predetermined positional relationship with an index in a state where the hand-tip portion is arranged at a second orientation which is corrected by using the orientation change data, and a position change data acquisition section to acquire position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data.

Abstract: A robot including an arm, a tool attached to the arm, a measurement fixture to be attached to a tip portion of the tool detachably, and a controller that recognizes a reference coordinate system used to control the arm, and that controls the arm. The controller stores data indicating a positional relationship between a tip of the tool and the measurement fixture or data to be used to calculate the positional relationship, and the controller calculates positional coordinates of the tip of the tool in the reference coordinate system based on position data of the measurement fixture and the positional relationship, where the position data is detected by using acquired image data from a visual sensor whose position is associated with the reference coordinate system.

Abstract: A robot system includes a target position calculation section which calculates, when a first feature can be detected from an image, a target position of a robot based on the calculated position of the first feature and a stored first positional relationship, and calculates, when the first feature cannot be detected from the image and a second feature can be detected from the image, a target position of the robot based on the calculated position of the second feature and the stored first positional relationship.

Abstract: A robot including an arm, a tool attached to the arm, a measurement fixture to be attached to a tip portion of the tool detachably, and a controller that recognizes a reference coordinate system used to control the arm, and that controls the arm. The controller stores data indicating a positional relationship between a tip of the tool and the measurement fixture or data to be used to calculate the positional relationship, and the controller calculates positional coordinates of the tip of the tool in the reference coordinate system based on position data of the measurement fixture and the positional relationship, where the position data is detected by using acquired image data from a visual sensor whose position is associated with the reference coordinate system.

Abstract: Provided is a teaching position correction device including a vision sensor attached to a tip end of an arm of a robot; a measurement unit measuring a three-dimensional position of the tip end of the robot when the sensor is arranged at a predetermined position with respect to each of reference points provided on an object or a holding device and not arranged on one straight line; and a calculation unit calculating relative positions of the reference points based on the measured three-dimensional position while the sensor is translated, where a teaching point position in an operation program of the robot is corrected in such a way that a change in relative positions of the robot and the holding device is compensated for, based on the relative positions of the reference points calculated before and after relocation of at least one of the robot and the holding device.

Abstract: An interference avoidance device is provided with: a three-dimensional sensor that is attached to a tip portion of a robot arm and acquires a distance image of an area around a robot; a position data creating portion that converts coordinates of a nearby object in the distance image to coordinates on a robot coordinate system and creates the position data of the nearby object based on the coordinates of the nearby object on the robot coordinate system; a storage portion that stores the position data; and a control portion that controls the robot based on the robot coordinate system; and the control portion controls the robot to avoid interference of the robot with the nearby object, based on the position data stored in the storage portion.

Abstract: A robot-defective-part diagnostic device includes a position measuring unit with a target and a sensor for capturing an image of the target. One of the target and the sensor is attached to the robot and the other is disposed outside the robot. The position measuring unit measures the positions of the target with the sensor for postures of the robot. The device also includes an error calculation unit that calculates the positioning error based on the measured positions of the target. A parameter calculation unit that calculates the mechanical parameters of the respective operation shafts based on the measured positions of the target for the respective postures when the calculated positioning error is larger than a predetermined threshold, and a defective-part identifying unit that identifies the operation shaft where the difference between the calculated mechanical parameters and preset mechanical parameters for achieving the postures is the largest.

Abstract: A calibration system includes a mark for a robot including a first member and second members to that are connected to each other so as to allow relative movement via a joint shaft driven by a motor and also including a rotation-angle sensor that outputs a signal corresponding to a rotation angle of the motor, the mark being fixed to one of the second members; a camera that is disposed outside the robot and that acquires images of the mark; and a difference detection unit that detects the difference between signals output from the rotation-angle sensor at the timings of acquisition of the individual images acquired by the camera when the positions of the mark in the images are caused to substantially match each other before and after reinstallation or replacement of a part.

Abstract: A robot system includes a target position calculation section which calculates, when a first feature can be detected from an image, a target position of a robot based on the calculated position of the first feature and a stored first positional relationship, and calculates, when the first feature cannot be detected from the image and a second feature can be detected from the image, a target position of the robot based on the calculated position of the second feature and the stored first positional relationship.

Abstract: A calibration system includes a mark for a robot including a first member and second members to that are connected to each other so as to allow relative movement via a joint shaft driven by a motor and also including a rotation-angle sensor that outputs a signal corresponding to a rotation angle of the motor, the mark being fixed to one of the second members; a camera that is disposed outside the robot and that acquires images of the mark; and a difference detection unit that detects the difference between signals output from the rotation-angle sensor at the timings of acquisition of the individual images acquired by the camera when the positions of the mark in the images are caused to substantially match each other before and after reinstallation or replacement of a part.

Abstract: Provided is a teaching position correction device including a vision sensor attached to a tip end of an arm of a robot; a measurement unit measuring a three-dimensional position of the tip end of the robot when the sensor is arranged at a predetermined position with respect to each of reference points provided on an object or a holding device and not arranged on one straight line; and a calculation unit calculating relative positions of the reference points based on the measured three-dimensional position while the sensor is translated, where a teaching point position in an operation program of the robot is corrected in such a way that a change in relative positions of the robot and the holding device is compensated for, based on the relative positions of the reference points calculated before and after relocation of at least one of the robot and the holding device.

Abstract: A measured mark is arranged on a link of an articulated robot. A camera for measuring a position of the measured mark is arranged at a position distant from the articulated robot. A control apparatus of the articulated robot changes posture of the articulated robot, measures positions of the measured mark respectively before and after a change of the posture by the camera, and calculates an actual deflection amount of the link based on a movement amount between the position of the measured mark measured before the change of the posture and the position of the measured mark measured after the change of the posture.

Abstract: A robot-defective-part diagnostic device includes a position measuring unit with a target and a sensor for capturing an image of the target. One of the target and the sensor is attached to the robot and the other is disposed outside the robot. The position measuring unit measures the positions of the target with the sensor for postures of the robot. The device also includes an error calculation unit that calculates the positioning error based on the measured positions of the target. A parameter calculation unit that calculates the mechanical parameters of the respective operation shafts based on the measured positions of the target for the respective postures when the calculated positioning error is larger than a predetermined threshold, and a defective-part identifying unit that identifies the operation shaft where the difference between the calculated mechanical parameters and preset mechanical parameters for achieving the postures is the largest.

Abstract: A measured mark is arranged on a link of an articulated robot. A camera for measuring a position of the measured mark is arranged at a position distant from the articulated robot. A control apparatus of the articulated robot changes posture of the articulated robot, measures positions of the measured mark respectively before and after a change of the posture by the camera, and calculates an actual deflection amount of the link based on a movement amount between the position of the measured mark measured before the change of the posture and the position of the measured mark measured after the change of the posture.

Abstract: A robot control apparatus controls a motor for driving a robot fixedly installed on a support body. The robot control apparatus is provided with a deflection estimating unit for estimating, when the robot is assumed to reach a target position and posture, a deflection arising in the support body due to the influence of gravity acting on the robot, a movement amount calculating unit for calculating the amount of movement of the motor which causes the robot to reach the target position and posture, based on the deflection of the support body, which is estimated by the deflection estimating unit, and a drive unit for driving the motor based on the amount of movement calculated by the movement amount calculating unit.

Abstract: A method and an apparatus for predicting interference, at practical accuracy and calculation time, between a target section of a robot and a peripheral object installed around the robot, when the target section, such as a tool or a sensor attached to a robot hand, is moved along a movement path thereof due to the motion of the robot. A convex hull, defined by areas occupied by the tool at adjacent time points, is calculated. It is judged whether a common area exists between the convex hull and a polyhedron area. When the common area exists, it is judged that the tool interferes with the container box on the movement path, and the procedure is terminated. When the common area does not exist, it is judged whether j<n is true. If j?n is true, it is judged that the interference does not occur.

Abstract: A device for restoring positional information of a robot provided with a first member and a second member; a motor moving the second member; and a sensor outputting a sensor signal. The device includes an imaging section obtaining an image signal in a region including a first mark and a second mark; a mark position computation section computing a first positional relationship between the first mark and the second mark at a first time and a second positional relationship at a second time, based on an image signal obtained by the imaging section at the first time and at the second time; and a correction section correcting positional information depending on a sensor signal, based on the first and second positional relationship, a first sensor signal output by the sensor at the first time and a second sensor signal output by the sensor at the second time.

Abstract: A method and an apparatus for predicting interference, at practical accuracy and calculation time, between a target section of a robot and a peripheral object installed around the robot, when the target section, such as a tool or a sensor attached to a robot hand, is moved along a movement path thereof due to the motion of the robot. A convex hull, defined by areas occupied by the tool at adjacent time points, is calculated. It is judged whether a common area exists between the convex hull and a polyhedron area. When the common area exists, it is judged that the tool interferes with the container box on the movement path, and the procedure is terminated. When the common area does not exist, it is judged whether j<n is true. If j?n is true, it is judged that the interference does not occur.