Robot system control method and robot system
A robot system and control method technology, applied in the direction of program control manipulator, program control, general control system, etc., can solve problems such as workpiece position, unknown attitude, and inability to perform high-precision operations.
Active Publication Date: 2022-07-29
SEIKO EPSON CORP
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Problems solved by technology
[0004]
However, in the above-mentioned robot control method, only the picking predicted position and the posture of the workpiece at the position are calculated.
Therefore, it is better to perform an instantaneous operation such as picking up the workpiece conveyed by the conveyor at the picking predicted position. Unknown, there is a problem that the work cannot be performed with high precision
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[0013] Hereinafter, the control method of the robot system and the robot system of the present invention will be described in detail based on the embodiments shown in the drawings.
[0014] figure 1 It is an overall configuration diagram of the robot system according to the preferred embodiment. figure 2 It is a plan view showing the conveyance of the workpiece. image 3 It is a flowchart showing the control process of the robot system. Figure 4 is shown in detail image 3 The flow chart of the control process.
[0015] figure 1 The illustrated robot system 100 includes a robot 200 , an imaging unit 300 , a control device 400 , and a transport device 600 . In the robot system 100 , the conveying device 600 conveys the workpiece W as an object along the conveying direction A, the control device 400 detects the conveying state of the workpiece W based on the image acquired by the imaging unit 300 , and the robot 200 follows the conveying state of the workpiece W based on ...
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The invention provides a control method of a robot system and a robot system, which can follow an object conveyed by a conveying device and perform work with high precision. A control method of a robot system includes a conveyance device that conveys an object, and a robot that performs work while following the object conveyed by the conveyance device, the control method of the robot system including: an image acquisition step of acquiring an image of the object conveyed by the conveyance device; acquiring a plurality of images by capturing a plurality of images of the object conveyed by the conveying device; a reciprocating displacement information acquisition step for acquiring reciprocating displacement information indicating periodic reciprocating displacement in a width direction orthogonal to the conveyance direction of the object on the basis of the plurality of images; and a correction step of correcting a position command of the robot based on the reciprocating displacement information.
Description
technical field [0001] The present invention relates to a control method of a robot system and a robot system. Background technique [0002] Patent Document 1 discloses a method of controlling a robot in which a camera is used to photograph a workpiece conveyed by a conveying device such as a belt conveyor, and based on the photographed result and the conveying speed of the conveying device, a device for picking the workpiece conveyed by the conveying device is calculated. Picking predicted pick position and the pose of the workpiece at that position. [0003] Patent Document 1: Japanese Patent Laid-Open No. 2019-025618 [0004] However, in the above-described robot control method, only the picking predicted position and the posture of the workpiece at the position are calculated. Therefore, it is preferable to perform an instantaneous operation such as picking up the workpiece conveyed by the conveying device at the predicted picking position. However, for example, when c...
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IPC IPC(8): B25J9/16
CPCB25J9/1697B25J9/1664G05B2219/39102G05B19/4182B25J9/1653B25J9/0093B25J19/023B25J9/1669
Inventor 吉井宏治
Owner SEIKO EPSON CORP