Control device, robot, and robot system

Abstract

The invention provides a control device, a robot and a robot system. The control device controls the robot with high working efficiency. The robot is controlled by the control device. The robot systemis equipped with the control device and the robot. The control device includes: a control portion and a receiving portion, in which the control portion is capable of allowing a robot to perform two or more works selected from first work of performing calibration between a coordinate system of a first imaging portion having an imaging function and a coordinate system of a robot, second work of performing calibration between a coordinate system of a second imaging portion having an imaging function and a coordinate system of the robot, third work of calculating a posture of a virtual standard surface that corresponds to a work surface on which the robot works, fourth work of calculating a distance between the first imaging portion and a standard point of the robot, and fifth work of calculating a distance between an end-effector and the standard point, based on one input command received by the receiving portion.

Description

technical field [0001] The invention relates to a control device, a robot and a robot system. Background technique [0002] For a long time, there have been known robot systems used for operations such as grasping, transporting, and assembling objects such as electronic components. Such a robot system includes: a robot including a robot arm having a plurality of arms and a robot hand provided at the tip of the robot arm; an imaging unit such as a camera; and a control device for controlling the robot and the imaging unit. The robot system with such a configuration causes the robot to perform various tasks on the target with the manipulator based on, for example, the image of the target captured by the imaging unit. [0003] Here, in order for the robot to accurately work on the target based on the image captured by the imaging unit, it is necessary to perform calibration (calibration) of the imaging unit to obtain the position on the image of the target captured by the imag...

AI Technical Summary

Problems solved by technology

In such conventional calibrations, generally speaking, the operator confirms the contact between the calibration jig and the correction manipulator, so there is a difference in the determination of the contact due to the operator.

For this reason, there is a problem that it is difficult to designate the position and posture of the calibration jig with high precision, and it takes a long time to designate the position and posture of the calibration jig if the operator wants to accurately judge the contact.

In addition, the operator directly performs a lot of work, and the more the number of robots, cameras, and reference surfaces to be calibrated increases, the more time is required to specify the position and posture of the calibration jig.

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