Robot control device

Abstract

Provided is a robot control device (5) which can make a robot arm follow workpiece which moves arbitrarily in high precision. The robot control device includes a feature-point detecting unit that detects, from an image of an object acquired by a visual sensor, the positions of a plurality of feature points on the object in a predetermined cycle; a position/orientation calculating unit that updates, in the predetermined cycle, respective equations of motion of the plurality of feature points on the basis of the detected positions of the plurality of feature points and that calculates the position or orientation of the object on the basis of the detected positions of the plurality of feature points calculated from the updated equations of motion; and a robot-arm-movement control unit that controls the movement of a robot arm so as to follow the object, on the basis of the calculated position or orientation of the object.

Description

technical field [0001] The invention relates to a robot control device suitable for controlling a robot arm through visual servoing. Background technique [0002] Conventionally, as a technique for controlling a robot arm, it is known to continuously measure the position and posture of a continuously moving workpiece (object) with a visual sensor such as a camera, and to make the robot arm follow the object based on the measurement result. Visual servoing (for example, refer to Patent Document 1 and Patent Document 2). [0003] prior art literature [0004] patent documents [0005] Patent Document 1: Japanese Patent No. 4265088 [0006] Patent Document 2: Japanese Patent Laid-Open No. 2011-143494 Contents of the invention [0007] The problem to be solved by the invention [0008] However, in the robot control devices described in Patent Document 1 and Patent Document 2, since the moving speed of a fixed workpiece is assumed as a condition, there is a problem that th...

AI Technical Summary

Problems solved by technology

[0009] In addition, when the workpiece cannot be detected by the camera, the position of the workpiece is calculated based on the equation of motion of the workpiece regardless of whether a part of the workpiece enters the field of view of the camera, so there is a gap between the calculated workpiece position and the actual workpiece position. There is a deviation, which leads to the problem of decreased tracking accuracy

Images