Robot system, robot control method, and robot

Abstract

A robot system includes: a robot; a measurement apparatus; and a control apparatus. The robot includes: a robotic arm; an end effector; a movement apparatus to which the end effector is attached and which is configured to move the end effector along a translation axis; and a base to which the movement apparatus is attached and which is located at a position that is fixed relative to the robotic arm. The base includes a reflective member. The measurement apparatus measures a position of the base. The control apparatus controls at least one of the robotic arm and the movement apparatus based on a measured result by the measurement apparatus, the base is detachable from the robotic arm.

Description

ROBOT SYSTEM, ROBOT CONTROL METHOD, AND ROBOT

[0001] The present invention relates to a technical field of a robot system, a robot control method, and a robot, for example.

[0002] A robot system that is configured to perform a predetermined operation is used in various scenes. A technical problem of this robot system is to properly and precisely control the robot to achieve a wide variety of processes.

[0003] Patent Literature 1: US2015 / 0134099A1

[0004] A first aspect provides a robot system including: a robot; a measurement apparatus; and a control apparatus, wherein the robot includes: a robotic arm; an end effector; a movement apparatus to which the end effector is attached and which is configured to move the end effector along a translation axis; and a base to which the movement apparatus is attached and which is located at a position that is fixed relative to the robotic arm, the base includes a reflective member, the measurement apparatus measures a position of the base, the control apparatus controls at least one of the robotic arm and the movement apparatus based on a measured result by the measurement apparatus, the base is detachable from the robotic arm.

[0005] A second aspect provides a robot control method for controlling a robot, wherein the robot includes: a robotic arm; an end effector; a movement apparatus to which the end effector is attached and which is configured to move the end effector along a translation axis; and a base to which the movement apparatus is attached and which is located at a position that is fixed relative to the robotic arm, the robot control method includes: measuring a position of the base by using a measurement apparatus; and controlling at least one of the robotic arm and the movement apparatus based on a measured result by the measurement apparatus, the base is detachable from the robotic arm.

[0006] A third aspect provides a robot including: a robotic arm; an end effector; a movement apparatus to which the end effector is attached and which is configured to move the end effector along a translation axis; and a base to which the movement apparatus is attached and which is located at a position that is fixed relative to the robotic arm, the base is detachable from the robotic arm in a state where the movement apparatus with the attached end effector remains being attached thereto.

[0007] FIG. 1 is a system configuration diagram that illustrates one example a system configuration of a robot system in a present example embodiment.FIG. 2 is a perspective view that illustrates one example of an arrangement of the robot system.FIG. 3 is a side view that illustrates a configuration of a robot.FIG. 4 is a perspective view that illustrates a configuration of a base and movement apparatus.FIG. 5 is a side view that illustrates the base detached from a robotic arm.Each of FIG. 6A to FIG. 6C is a side view that illustrates a head group that is detachably attached to the robotic arm.FIG. 7 is a front view that illustrates an external appearance of a measurement apparatus.FIG. 8 is a cross-sectional view that illustrates a configuration of a measurement optical system of the measurement apparatus.FIG. 9 is a block diagram that illustrates a configuration of a control apparatus.FIG. 10 is a flowchart that illustrates a flow of an operation of the robot system in the present example embodiment.Description of Example embodiments

[0008] Next, with reference to drawings, an example embodiment of a robot system, a robot control method, and a robot will be described. In the below-described description, the example embodiment of the robot system, the robot control method, and the robot will be described by using a robot system SYS.

[0009] (1) Configuration of Robot System SYS First, with reference to FIG. 1 and FIG. 2, a configuration of the robot system SYS in a present example embodiment will be described. FIG. 1 is a system configuration diagram that illustrates one example of a system configuration of the robot system SYS in the present example embodiment. FIG. 2 is a perspective view that illustrates one example of an arrangement of the robot system SYS.

[0010] As illustrated in FIG. 1 and FIG. 2, the robot system SYS includes a robot 1, a measurement apparatus 2, and a control apparatus 3. Incidentally, an illustration of the control apparatus 3 is omitted in FIG. 2 for convenience of illustration. This is because the control apparatus 3 may be located in a space that is different from a space in which the robot 1 and the measurement apparatus 2 are located. Of course, the control apparatus 3 may be located in the space in which the robot 1 and measurement apparatus 2 are located. A configuration and an operation of the robot 1, a detailed description of the measurement apparatus 2, and the control apparatus 3 is omitted here because it will be described in detail later, however, an overview thereof is briefly described here.

[0011] The robot 1 performs a predetermined operation on a workpiece W that is one example of an object. Especially, the robot 1 performs the predetermined operation on the workpiece W by using an end effector 15 (see FIG. 3) of the robot 1 which will be described in detail later. In this case, the robot 1 may perform the operation according to the type of end effector 15 of the robot 1 on the workpiece W.

[0012] As a first example, the robot 1 may perform a processing operation for processing the workpiece W by using the end effector 15 as one example of the predetermined operation. For example, the robot 1 may perform a processing operation (an additive manufacturing operation) for performing an additive manufacturing on the workpiece W to add a build object to the workpiece W by using the end effector 15. For example, the robot 1 may perform a processing operation (a removal processing operation) for performing a removal processing on the workpiece W to remove a part of the workpiece W by using the end effector. One example of the removal processing operation is a processing operation (a machining operation) for performing a machining of the workpiece W by using a tool. In a case where the robot 1 performs the processing operation, the end effector 15 may include a processing head that is configured to process the workpiece W. In other words, the processing head that is configured to process the workpiece W may be used as the end effector 15.

[0013] As a second example, the robot 1 may perform a measurement operation for measuring a measurement target object by using the end effector 15 as one example of the predetermined operation. The workpiece W is one example of the measurement target object. The build object added to the workpiece W by the above-described additive manufacturing is another example of the measurement target object. For example, the robot 1 may perform the measurement operation for measuring a characteristic of the measurement target object by using the end effector 15. At least one of a position of at least a part of the measurement target object, a shape of at least a part of the measurement target object, and a size of at least a part of the measurement target object is one example of a characteristic of the measurement target object. In a case where the robot 1 performs the measurement operation, the end effector 15 may include a measurement head that is configured to measure the measurement target object. In other words, the measurement head that is configured to measure the measurement target object may be used as the end effector 15.

[0014] The measurement apparatus 2 is configured to measure a position of at least a part of the robot 1. In the present example embodiment, an example in which the measurement apparatus 2 measures a position of the base 13 of the robot 1 as one example of the position of at least a part of the robot 1. However, the measurement apparatus 2 may measure a position of a part of the robot 1 that is different from the base 13 as one example of the position of at least a part of the robot 1. A measured result by the measurement apparatus 2 is outputted from the measurement apparatus 2 to the control apparatus 3.

[0015] The measured result by the measurement apparatus 2 includes a measured result of the position of at least a part of the robot 1. Namely, the measured result by the measurement apparatus 2 includes information related to the position of at least a part of the robot 1. Especially in the present example embodiment, the measured result by the measurement apparatus 2 includes a measured result of the position of the base 13. Namely, the measured result by the measurement apparatus 2 includes information related to the position of the base 13. In this case, the control apparatus 3 may calculate the position of at least a part of the robot 1 (especially, the position of the base 13) based on the measured result by the measurement apparatus 2. A calculation result of the position of at least a part of the robot 1 (especially, the position of the base 13) includes information related to the position of at least a part of the robot 1 (especially, the position of the base 13).

[0016] The measurement apparatus 2 may be any type of measurement apparatus, as long as the measurement apparatus 2 is configured to measure the position of the base 13 (namely, the position of at least a part of the robot 1, the same is applied in the below-described description). In the present example embodiment, an example in which the measurement apparatus 2 optically measures the position of the base 13. In this case, the measurement apparatus 2 is configured to emit measurement light ML toward the base 13. The measurement light ML is typically a laser light, however, the measurement light ML may be light different from the laser light. Furthermore, the measurement apparatus 2 is configured to optically receive a reflection light RL from the base 13 that is irradiated with the measurement light ML. Namely, the measurement apparatus 2 is configured to optically receive the reflection light RL of the measurement light ML. An optical received result of the reflection light RL by the measurement apparatus 2 is outputted from the measurement apparatus 2 to the control apparatus 3 as the measured result by the measurement apparatus 2.

[0017] The control apparatus 3 is configured to control the robot 1. The control apparatus 3 may be referred to as a robot control apparatus 3. For example, the control apparatus 3 may control the robot 1 by generating a robot control signal for controlling the robot 1 and outputting the generated robot control signals to the robot 1. As one example, the control apparatus 3 may generate the robot control signal for controlling the robot 1 to perform the predetermined operation on the workpiece W.

[0018] Especially in the present example embodiment, the control apparatus 3 may control the robot 1 based on the measured result by the measurement apparatus 2. Namely, the control apparatus 3 may generate the robot control signal based on the measured result by the measurement apparatus 2. Specifically, as described above, the measured result by the measurement apparatus 2 includes the measured result of the position of the base 13 (namely, the information related to the position of the base 13). In this case, the control apparatus 3 may calculate the position of the base 13 based on the measured result by the measurement apparatus 2 and generate the robot control signal based on a calculated result of the position of the base 13.

[0019] (2) Configuration of Robot 1 Next, with reference to FIG. 3, a configuration of the robot 1 will be described. FIG. 3 is a side view that illustrates the configuration of the robot 1. As illustrated in FIG. 3, the robot 1 includes a platform 11, a robotic arm 12, a base 13, a movement apparatus 14, and an end effector 15.

[0020] The platform 11 is a member that serves as a foundation of the robot 1. The platform 11 is placed on a support surface SS such as a floor surface. The platform 11 may be fixed to the support surface SS. Alternatively, the platform 11 may be movable relative to the support surface SS. As one example, the platform 11 may be self-propelled on the support surface SS. In this case, the platform 11 may be placed on an automatic transportation vehicle. Alternatively, the automatic transportation vehicle may be used as the platform 11. At least one of an AGV (Automatic Guided Vehicle) and an AMR (Autonomous Mobile Robot) is one example of the automatic transportation vehicle. FIG. 3 illustrates an example in which the platform 11 is fixed to the support surface SS.

[0021] The robotic arm 12 is attached to the platform 11. In the present example embodiment, an example in which a robotic arm having a vertical articulated structure is used as the robotic arm 12 will be described. In this case, the robotic arm 12 may be an apparatus in which a plurality of links 121 are connected through joints 122. An actuator may be built into the joint 122. The link 121 may be rotatable around an axis defined by the joint 122 by the actuator built into the joint 122. Incidentally, at least one link 121 may be extendable or retractable in a direction along which the link 121 extends. Incidentally, an apparatus including the apparatus in which the plurality of links 121 are connected through the joint 122 and the platform 11 may be referred to as the robotic arm 12.

[0022] However, a robotic arm that is different from the robotic arm having the vertical articulated structure may be used as the robotic arm 12. For example, a robot-polar-coordinate type of robot having a horizontal articulated structure may be used as the robotic arm 12. A cylindrical-coordinate type of robot may be used as the robotic arm 12. A Cartesian-coordinate type of robot may be used as the robotic arm 12. A parallel-kinetic-machine (PKM) type (in other words, parallel-link type) of robot may be used as the robotic arm 12.

[0023] The end effector 15 is attached to the robotic arm 12. Especially in the present example embodiment, the end effector 15 is attached to the robotic arm 12 through the base 13 and the movement apparatus 14. Here, with reference to FIG. 4 in addition to FIG. 3, the end effector 15 attached to the robotic arm 12 through the base 13 and the movement apparatus 14 will be described together with a configuration of the base 13 and the movement apparatus 14. FIG. 4 is a perspective view that illustrates the configuration of the base 13 and the movement apparatus 14. Incidentally, for the purpose of clear illustration, FIG. 4 illustrates the configuration of the base 13 and the movement apparatus 14 in a state where the robotic arm 12, base 13, and movement apparatus 14 are separated from each other.

[0024] As illustrated in FIG. 3 and FIG. 4, the base 13 is attached to robotic arm 12. Namely, the base 13 is attachable to the robotic arm 12. The base 13 is a member attached to the robotic arm 12. Namely, the base 13 is a member attachable to the robotic arm 12. Therefore, the base 13 may be referred to as a base member. In a case where the base 13 is attached to the robotic arm 12, a positional relationship between the base 13 and the robotic arm 12 is fixed. Therefore, the base 13 is located at a position that is fixed relative to the robotic arm 12. Incidentally, as described in detail later, the base 13 attached to the robotic arm 12 may be detached from the robotic arm 12. Namely, the base 13 attached to the robotic arm 12 may be detachable from the robotic arm 12. Namely, the base 13 may be attachable to the robotic arm 12 and may be detachable from the robotic arm 12.

[0025] FIG. 3 and FIG. 4 illustrate an example in which the base 13 is attached to a movable part 123 that is an end of the robotic arm 12. However, the base 13 may be attached to a part of the robotic arm 12 that is different from the movable part 123. As one example, the base 13 may be attached to any part of the robotic arm 12 that moves as the robotic arm 12 moves. In both cases, the base 13 may be attached to a part of the robotic arm 12 that satisfies such a condition that the positional relationship between the base 13 and the robotic arm 12 is fixed. The base 13 may be attached to a part of the robotic arm 12 that satisfies such a condition that the base 13 is located at a position that is fixed relative to the robotic arm 12.

[0026] FIG. 3 and FIG. 4 illustrate an example in which the base 13 is directly attached to the robotic arm 12. However, base 13 may also be indirectly attached to the robotic arm 12. For example, the base 13 may be attached to the robotic arm 12 through a support member that is configured to support the base 13. Namely, the support member that is configured to support the base 13 may be attached to the robotic arm 12, and the base 13 may be attached to the support member. In both cases, the base 13 may be directly or indirectly attached to the robotic arm 12 so as to satisfy such a condition that the positional relationship between the base 13 and the robotic arm 12 is fixed. The base 13 may be directly or indirectly attached to the robotic arm 12 so as to satisfy such a condition that the base 13 is located at a position that is fixed relative to the robotic arm 12.

[0027] The movement apparatus 14 is attached to the base 13. Especially in the present example embodiment, the movement apparatus 14 is directly attached to the base 13. Namely, in the present example embodiment, a state in which “the movement apparatus 14 is attached to the base 13” means a state in which “the movement apparatus 14 is directly attached to the base 13”. Incidentally, the state in which “the movement apparatus 14 is directly attached to the base 13” may mean a state in which “the movement apparatus 14 is fixed to the base 13”. The state in which “the movement apparatus 14 is directly attached to the base 13” may mean a state in which “the movement apparatus 14 is attached to the base 13 so that the movement apparatus 14 is not detachable from the base 13”. The base 13 may serve as a support member for supporting the movement apparatus 14 attached to the base 13. The end effector 15 is attached to the movement apparatus 14 attached to the base 13 (in other words, the movement apparatus 14 supported by the base 13). Especially in the present example embodiment, the end effector 15 is directly attached to the movement apparatus 14. Namely, in the present example embodiment, a state in which “the end effector 15 is attached to the movement apparatus 14” means a state in which “the end effector 15 is directly attached to the movement apparatus 14”. Incidentally, the state in which “the end effector 15 is directly attached to the movement apparatus 14” may mean a state in which “the end effector 15 is fixed to the movement apparatus 14”. The state in which “the end effector 15 is directly attached to the movement apparatus 14” may mean a state in which “the end effector 15 is attached to the movement apparatus 14 so that the end effector 15 is not detachable from the movement apparatus 14”.

[0028] The movement apparatus 14 is configured to move the end effector 15 attached to the movement apparatus 14. In the present example embodiment, an example in which the movement apparatus 14 is configured to move the end effector 15 along a translation axis. The translation axis may be referred to as a linear axis because it is an axis that extends in a linear direction. For example, the movement apparatus 14 may be configured to move the end effector 15 along a first translation axis. For example, the movement apparatus 14 may be configured to move the end effector 15 along a second translation axis that intersects (typically, is orthogonal to) the first translation axis and that is different from the first translation axis, in addition to or instead of moving the end effector 15 along the first translation axis. For example, the movement apparatus 14 may be configured to move the end effector 15 along a third translation axis that intersects (typically, is orthogonal to) the first and second translation axes and that is different from the first and second translation axes, in addition to or instead of moving the end effector 15 along at least one of the first and second translation axes.

[0029] The translation axis may be an axis defined based on the base 13 to which the movement apparatus 14 is attached. Namely, the translation axis may be an axis fixed relative to the base 13 to which the movement apparatus 14 is attached. For example, the movement apparatus 14 may be configured to move the end effector 15 along the first translation axis that is an X-axis (see FIG. 4) of a base coordinate system that is a three-dimensional coordinate system defined based on the base 13. For example, the movement apparatus 14 may be configured to move the end effector 15 along the second translation axis that is a Y-axis of the base coordinate system (namely, a Y-axis orthogonal to the X-axis in the base coordinate system), in addition to or instead of moving the end effector 15 along the first translation axis. For example, the movement apparatus 14 may be configured to move the end effector 15 along the third translation axis that is a Z-axis of the base coordinate system (namely, a Z-axis orthogonal to the X-axis and the Y-axis in the base coordinate system), in addition to or instead of moving the end effector 15 along at least one of the first and second translation axes.

[0030] Incidentally, in the below-described description, an example in which the movement apparatus 14 is configured to move the end effector 15 along each of the X-axis, the Y-axis, and the Z-axis of the base coordinate system, for convenience of description. Note that the X-axis, the Y-axis, and the Z-axis of the base coordinate system are referred to as the X-axis (base), the Y-axis (base), and the Z-axis (base), respectively, in the below-described description.

[0031] The base coordinate system may be a coordinate system (a local coordinate system) defined in a reference coordinate system (a whole coordinate system) that is used as a reference for the robot system SYS. For example, the base coordinate system may be a coordinate system (a local coordinate system) defined around the base 13 that is located in the reference coordinate system. For example, the base coordinate system may be a coordinate system (a local coordinate system) defined around at least one of the base 13, the movement apparatus 14 and the end effector 15 that are located in the reference coordinate system.

[0032] Incidentally, a global coordinate system that is defined relative to the robot system SYS may be used as the reference coordinate system. The global coordinate system may be a coordinate system defined by three mutually orthogonal axes (specifically, an X-axis, a Y-axis, and a Z-axis) that pass through an origin point determined based on the robot system SYS. A robot coordinate system that is defined relative to the robot 1 may be used as the reference coordinate system. The robot coordinate system may be a coordinate system defined by three mutually orthogonal axes (specifically, an X-axis, a Y-axis, and a Z-axis) that pass through an origin point determined based on the robot 1. A measurement coordinate system that is defined relative to measurement apparatus 2 may be used as the reference coordinate system. The measurement coordinate system may be a coordinate system defined by three mutually orthogonal axes (specifically, an X-axis, a Y-axis, and a Z-axis) that pass through an origin point determined based on the measurement apparatus 2. Incidentally, in the below-described description, the X-axis, the Y-axis, and the Z-axis of the reference coordinate system are referred to as the X-axis (reference), the Y-axis (reference), and the Z-axis (reference), respectively. In the example illustrated in FIG. 3, the X-axis (reference), the Y-axis (reference), and the Z-axis (reference) are different from the X-axis (base), the Y-axis (base), and the Z-axis (base), respectively. However, at least one of the X-axis (reference), the Y-axis (reference), and the Z-axis (reference) may be the same as at least one of the X-axis (base), the Y-axis (base), and the Z-axis (base).

[0033] The movement apparatus 14 may include a driving system 141 that is configured to move the end effector 15 along the translation axis. In the present example embodiment, since the movement apparatus 14 is configured to move the end effector 15 along each of the X-axis (base), the Y-axis (base), and the Z-axis (base) as described above, the driving system 141 may include a driving system 141X that is configured to move the end effector 15 along the X-axis (base), a driving system 141Y that is configured to move the end effector 15 along the Y-axis (base), and a driving system 141Z that is configured to move the end effector 15 along the Z-axis (base).

[0034] The driving system 141X may include a guide member 1411X and a slider member 1412X. The driving system 141Y may include a guide member 1411Y and a slider member 1412Y. The driving system 141Z may be provided with a guide member 1411Z and a slider member 1412Z. One of the guide member 1411X, the guide member 1411Y, and the guide member 1411Z may be attached to the base 13. Namely, the driving system 141 may be attached to the base 13. In the below-described description, an example in which the guide member 1411X is attached to the base 13 will be described, as illustrated in FIG. 4. The guide member 1411X is a member that extends along the X-axis (base). The slider member 1412X is a member that is movable along the guide member 1411X by using a driving force of a non-illustrated driving source of the driving system 141X. One of the guide member 1411Y and the guide member 1411Z may be attached to the slider member 1412X. In the below-described description, an example in which the guide member 1411Y is attached to the slider member 1412X will be described, as illustrated in FIG. 4. The guide member 1411Y is a member that extends along the Y-axis (base). The slider member 1412Y is a member that is movable along the guide member 1411Y by using a driving force of a non-illustrated driving source of the driving system 141Y. The guide member 1411Z may be attached to the slider member 1412Y. The guide member 1411Z is a member that extends along the Z-axis (base). The slider member 1412Z is a member that is movable along the guide member 1411Z by using a driving force of a non-illustrated driving source of the driving system 141Z. The end effector 15 is attached to the slider member 1412Z. When the slider member 1412X moves along the guide member 1411X, the end effector 15 attached to the slider member 1412X through the driving system 141Y and 1the driving system 141Z moves along the guide member 1411X. Namely, the end effector 15 moves along the X-axis (base). Furthermore, when the slider member 1412Y moves along the guide member 1411Y, the end effector 15 attached to the slider member 1412Y through the driving system 141Z moves along the guide member 1411Y. Namely, the end effector 15 moves along the Y-axis (base). Furthermore, when the slider member 1412Z moves along the guide member 1411Z, the end effector 15 attached to the slider member 1412Z moves along the guide member 1411Z. Namely, the end effector 15 moves along the Z-axis (base).

[0035] The movement apparatus 14 may include a measurement apparatus 142 that is configured to acquire information related to a position of the end effector 15 moved by the driving system 141. In the present example embodiment, since the movement apparatus 14 is configured to move the end effector 15 along each of the X-axis (base), the Y-axis (base), and the Z-axis (base) as described above, the measurement apparatus 142 may be configured to acquire, as the information related to the position of the end effector 15 moved by the driving system 141, at least one of information related to the position of the end effector 15 along the X-axis (base), information related to the position of the end effector 15 along the Y-axis (base), and information related to the position of the end effector 15 along the Z-axis (base).

[0036] The measurement apparatus 142 may be configured to acquire information related to the position of the end effector 15, which is moved by the driving system 141, relative to the base 13. For example, the measurement apparatus 142 may be configured to acquire at least one of information related to the position of the end effector 15 relative to the base 13 in a direction along the X-axis (base), information related to the position of the end effector 15 relative to the base 13 in a direction along the Y-axis (base), and information related to the position of the end effector 15 relative to the base 13 in a direction along the Z-axis (base).

[0037] The measurement apparatus 142 may be configured to acquire information related to a moving distance of the end effector 15 moved by the driving system 141 as the information related to the position of the end effector 15.

[0038] As a first example of the measurement apparatus 142, the measurement apparatus 142 may be configured to acquire, as the information related to the moving distance of the end effector 15, information related to the position of the end effector 15 before the driving system 141 moves the end effector 15 and information related to the position of the end effector 15 after the driving system 141 moves the end effector 15. In this case, a difference between the position of the end effector 15 before the driving system 141 moves the end effector 15 and the position of the end effector 15 after the driving system 141 moves the end effector 15 corresponds to the moving distance of the end effector 15. In this case, the measurement apparatus 142 may be regarded as a measurement apparatus that is configured to indirectly acquire the information related to the moving distance of the end effector 15.

[0039] As a second example of the measurement apparatus 142, the measurement apparatus 142 may be configured to directly acquire the information related to the moving distance of the end effector 15. One example of the measurement apparatus configured to directly acquire the information related to the moving distance of the end effector 15 is an encoder that is configured to detect the moving distance of the end effector 15 along the translation axis. In this case, as illustrated in FIG. 4, the movement apparatus 14 includes, as the measurement apparatus 142, an encoder 142X that is configured to detect the moving distance of the end effector 15 along the X-axis (base), an encoder 142Y that is configured to detect the moving distance of the end effector 15 along the Y-axis (base), and an encoder 142Y that is configured to detect the moving distance of the end effector 15 along the Z-axis (base).

[0040] A measured result by the measurement apparatus 142 is outputted from the measurement apparatus 142 to the control apparatus 3. The measured result by the measurement apparatus 142 includes a measured result of the position of the end effector 15. Namely, the measured result by the measurement apparatus 142 includes information related to the position of the end effector 15. The control apparatus 3 may calculate the position of the end effector 15 based on the measured result by the measurement apparatus 142. Furthermore, the control apparatus 3 may control the robot 1 based on a calculated result of the position of the end effector 15. Namely, the control apparatus 3 may generate the robot control signal based on the calculated result of the position of the end effector 15.

[0041] The base 13 includes a reflective member 16. Namely, the reflective member 16 is located on the base 13. Typically, the reflective member 16 is attached to the base 13. The reflective member 16 is a reflective member that reflects light entering the reflective member 16. Especially, the reflective member 16 is a retroreflective member that reflects the light entering the reflective member 16 in a retroreflective manner. Note that the reflective member 16 may be referred to as a reflector. The retroreflective manner may be reflection in which radiation is returned in directions close to that from which it came. This manner may be maintained over a wide range of directions of incident radiation.

[0042] The above-described measurement apparatus 2 measures a position of the reflective member 16 of the base 13 in order to measure the position of the base 13. In order to measure the position of the reflective member 16, the measurement apparatus 2 irradiates the reflective member 16 with the measurement light ML. The reflective member 16 reflects the measurement light ML entering the reflective member 16. The measurement apparatus 2 optically receives the reflection light RL that is the measurement light ML reflected by the reflective member 16.

[0043] The optical received result of the reflection light RL by the measurement apparatus 2 is outputted from the measurement apparatus 2 to the control apparatus 3 as the measured result by the measurement apparatus 2. The optical received result of the reflection light RL by the measurement apparatus 2 includes the measured result of the position of the reflective member 16. Namely, the optical received result of the reflection light RL by the measurement apparatus 2 includes information related to the position of the reflective member 16. Here, since the base 13 includes the reflective member 16, the measured result of the position of the reflective member 16 substantially includes the measured result of the position of the base 13 including the reflective member 16. Therefore, the control apparatus 3 may calculate the position of the reflective member 16 of the base 13 based on the optical received result of the reflection light RL from the reflective member 16, and may calculate the position of the base 13 including the reflective member 16 based on a calculated result of the position of the reflective member 16 of the base 13. In other words, the control apparatus 3 may acquire the optical received result of the reflection light RL from the reflective member 16 as the information related to the position of the reflective member 16 of the base 13, and acquire the information related to the position of the base 13 including the reflective member 16 based on the acquired information. Therefore, measuring the position of the reflective member 16 of the base 13 is substantially equivalent to measuring the position of the base 13 including the reflective member 16.

[0044] The control apparatus 3 may calculate the position of the reflective member 16 in the above-described reference coordinate system based on the optical received result of the reflection light RL from the reflective member 16. Then, the control apparatus 3 may calculate the position of the base 13 in the above-described reference coordinate system based on the calculated result of the position of the reflective member 16 in the reference coordinate system.

[0045] In the present example embodiment, the base 13 includes a plurality of reflective members 16. Especially, the base 13 includes at least three reflective members 16. In this case, information related to a positional relationship between the plurality of reflective members 16 may be information known to the control apparatus 3. In this case, the control apparatus 3 may calculate the positions of the at least three reflective members 16 based on the optical received result of the reflection light RL from the at least three reflective members 16, respectively. Then, the control apparatus 3 may calculate the position of the base 13 based on the calculated result of the positions of the at least three reflective members 16. Especially, the control apparatus 3 may calculate, based on the calculated result of the positions of the at least three reflective members 16, the position of the base 13 in a linear direction along the X-axis (reference), the position of the base 13 in a linear direction along the Y-axis (reference), the position of the base 13 in a linear direction along the Z-axis (reference), the position of the base 13 in a rotational direction around the X-axis (reference), the position of the base 13 in a rotational direction around the Y-axis (reference), and the position of the base 13 in a rotational direction around the Z-axis (reference), as the position of the base 13.

[0046] However, the base 13 may include two or less reflective members 16. Even in this case, the control apparatus 3 may calculate, based on the calculated result of the positions of the two or less reflective members 16, at least one of the position of the base 13 in the linear direction along the X-axis (reference), the position of the base 13 in the linear direction along the Y-axis (reference), the position of the base 13 in the linear direction along the Z-axis (reference), the position of the base 13 in the rotational direction around the X-axis (reference), the position of the base 13 in the rotational direction around the Y-axis (reference), and the position of the base 13 in the rotational direction around the Z-axis (reference).

[0047] Incidentally, the position of the base 13 in the rotational direction around the X-axis (reference) may mean an attitude (in other words, a rotational amount or an inclined angle) of the base 13 around the X-axis (reference). The position of base 13 in the direction of rotation around the Y-axis (reference) may mean the attitude (in other words, a rotational amount or an inclined angle) of base 13 around the Y-axis (reference). The position of base 13 in the direction of rotation around the Z-axis (reference) may mean the attitude (in other words, a rotational amount or an inclined angle) of base 13 around the Z-axis (reference).

[0048] (3) Attachment / Detachment of Base 13 in Robot 1 In the robot 1 described above, the base 13 may be detachable from the robotic arm 12. Namely, the base 13 may be detachably attached to the robotic arm 12.

[0049] Especially in the present example embodiment, as illustrated in FIG. 5 that is a side view illustrating the base 13 detached from the robotic arm 12, the base 13 may be attachable to the robotic arm 12 as a unit of a head group 17 that includes the base 13, the movement apparatus 14 and the end effector 15. Furthermore, the base 13 may be detachable from the robotic arm 12 in a unit of the head group 17. Namely, the head group 17 including the base 13, the movement apparatus 14, and the end effector 15 may be attachable to the robotic arm 12 and detachable from the robotic arm 12.

[0050] In this case, the base 13 may be attachable to the robotic arm 12 in a state where the movement apparatus 14 remains being attached to the base 13. In other words, the base 13 to which the movement apparatus 14 has been already attached may be attachable to the robotic arm 12. Furthermore, the base 13 may be detachable from the robotic arm 12 in a state where the movement apparatus 14 remains being attached to the base 13. In other words, the base 13 to which the movement apparatus 14 has been already attached may be detachable from the robotic arm 12.

[0051] Moreover, the base 13 may be attachable to the robotic arm 12 in a state where the end effector 15 remains being attached to the movement apparatus 14. Namely, the base 13 may be attachable to the robotic arm 12 in a state where the movement apparatus 14 to which the end effector 15 has been already attached remains being attached to the base 13. In other words, the base 13 with the attached movement apparatus 14 with the attached end effector 15 may be attachable to the robotic arm 12. Furthermore, the base 13 may be detachable from the robotic arm 12 in a state where the end effector 15 remains being attached to the movement apparatus 14. Namely, the base 13 may be detachable from the robotic arm 12 in a state where the movement apparatus 14 to which the end effector 15 has been already attached remains being attached to the base 13. In other words, the base 13 with the attached movement apparatus 14 with the attached end effector 15 may be detachable from the robotic arm 12.

[0052] In a case where the base 13 is detachable from the robotic arm 12 in a unit of the head group 17, the head group 17 may be detached from the robotic arm 12 in order to exchange the head group 17 attached to the robotic arm 12. For example, in a case where a first head group 17 including a first base 13, a first movement apparatus 14 attached to the first base 13, and a first end effector 15 attached to the first movement apparatus 14 is attached to the robotic arm 12, the first head group 17 may be detached from the robotic arm 12, and then a second head group including a second base 13 that is different from the first base 13, a second movement apparatus 14 that is attached to the second base 13 and that is different from the first movement apparatus 14, and a second end effector 15 that is attached to the second movement apparatus 14 and that is different from the first end effector 15 may be attached to the robotic arm 12. In this case, the head group 17 attached to the robotic arm 12 is exchanged from the first head group 17 to the second head group 17. As a result, the end effector 15 attached to the robotic arm 12 is exchanged from the first end effector 15 to the second end effector 15. In this case, a state of the robot 1 is switched from a state in which the robot 1 performs a first operation on the workpiece W by using the first end effector 15 to a state in which the robot 1 performs a second operation on the workpiece W using the second end effector 15.

[0053] One example of the head group 17 that is detachably attached to the robotic arm 12 is illustrated in FIG. 6A to FIG. 6C.

[0054] FIG. 6A illustrates an example in which a first head group 17#1 including: a first base 13#1; a first movement apparatus 14#1 attached to the first base 13#1; and an additive manufacturing head 15#1 that is the end effector 15 attached to the first movement apparatus 14#1 is detachably attached to the robotic arm 12. The additive manufacturing head 15#1 is the end effector 15 that is configured to perform the additive manufacturing for building the build object (namely, adding the build object to the workpiece W). Especially, FIG. 6A illustrates an example in which the additive manufacturing head 15#1 is the end effector 15 that builds the build object by irradiating the workpiece W with a processing beam EL and supplying a material M to an irradiation position of the processing beam EL. In this case, the additive manufacturing head 15#1 may include a processing nozzle 151#1 that is configured to irradiate the workpiece W with the processing beam EL and to supply the material M to the irradiation position of the processing beam EL and a supply system 152#1 that is configured to supply the processing beam EL and the material M to the processing nozzle 151#1 (in other words, in which supply path of the processing beam EL and a supply path of the material M to the processing nozzle 151#1 are formed).

[0055] FIG. 6B illustrates an example in which a second head group 17#2 including: a second base 13#2 that is different from the first base 13#1; a second movement apparatus 14#2 that is attached to the second base 13#2 and that is different from the first movement apparatus 14#1; and a measurement head 15#2 that is the end effector 15 attached to the second movement apparatus 14#2 is detachably attached to the robotic arm 12. The measurement head 15#2 is the end effector 15 that is configured to measure the measurement target object (for example, the workpiece W).

[0056] FIG. 6C illustrates an example in which a third head group 17#3 including: a third base 13#3 that is different from the first base 13#1 to the second base 13#2; a third movement apparatus 14#3 that is attached to the third base 13#3 and that is different from the first movement apparatus 14#1 to the second movement apparatus 14#2; and a machining head 15#3 that is the end effector 15 attached to the third movement apparatus 14#3 is detachably attached to the robotic arm 12. The machining head 15#3 is the end effector 15 that is configured to machine the workpiece W. The machining head 15#3 may be the end effector including a tool configured to machine the workpiece W.

[0057] (4) Configuration of Measurement Apparatus 2 Next, with reference to FIG. 7, a configuration of the measurement apparatus 2 will be described. FIG. 7 is a front view that illustrates an external appearance of the measurement apparatus 2.

[0058] As illustrated in FIG. 7, the measurement apparatus 2 includes a platform 21 and a housing 22.

[0059] The platform 21 is a member that serves as a foundation of the measurement apparatus2. The platform 21 is placed on the support surface SS such as a floor surface. The platform 21 may be fixed to the support surface SS. Alternatively, the platform 21 may be movable relative to the support surface SS. As one example, the platform 21 may be self-propelled on the support surface SS. In this case, the platform 21 may be placed on an automatic transportation vehicle. Alternatively, the automatic transportation vehicle may be used as the platform 21. At least one of an AGV (Automatic Guided Vehicle) and an AMR (Autonomous Mobile Robot) is one example of the automatic transportation vehicle. FIG. 7 illustrates an example in which the platform 21 is fixed to the support surface SS.

[0060] The housing 22 is attached to the platform 21. The housing 22 is a member in which the measurement optical system 23 is contained. The housing 22 may be rotatable around a predetermined rotational axis. In an example illustrated in FIG. 7, the housing 22 is rotatable around a rotational axis along a Y-axis (for example, an axis extending in the horizontal direction) in a measurement coordinate system defined relative to the measurement apparatus 2 and a rotational axis along a Z-axis (for example, an axis extending in the vertical direction or the gravity direction) in the measurement coordinate system. Namely, the housing 22 is rotatable along each of a pan direction (a longitude direction) that is a rotational direction around a rotational axis along the vertical direction or the gravity direction, and a tilt direction (a latitude direction) that is a rotational direction around a rotational axis along the horizontal direction.

[0061] A configuration of the measurement optical system 23 is illustrated in FIG. 8. Incidentally, FIG. 8 merely illustrates one example of the configuration of the measurement optical system 23, and the configuration of the measurement optical system 23 is not limited to the configuration illustrated in FIG. 8. The measurement optical system 23 may have any configuration that is configured to irradiate the above-described reflective member 16 with the measurement light ML and optically receive the reflection light RL from the above-described reflective member 16.

[0062] As illustrated in FIG. 8, the measurement optical system 23 includes an interferometer 231, a beam steering mirror 232, a camera 233, and a half mirror 234.

[0063] The interferometer 231 emits the measurement light ML. The measurement light ML emitted from the interferometer 231 passes through the half mirror 234, is reflected by the beam steering mirror 232, and is emitted toward an outside of the housing 22 through an aperture 221 formed in the housing 22. As a result, the reflective member 16 is irradiated with the measurement light ML.

[0064] The housing 22 rotationally moves along at least one of the pan direction and the tilt direction so that the reflective member 16 is irradiated with the measurement light ML. Specifically, when the housing 22 rotationally moves along at least one of the pan direction and the tilt direction, a direction toward which the measurement light ML is emitted from the housing 22 is changed. Therefore, the housing 22 rotationally moves along at least one of the pan direction and the tilt direction so that the measurement light ML is emitted from the housing 22 toward the reflective member 16.

[0065] The reflection light RL from the reflective member 16 enters an interior of the housing 22 through the aperture 221 formed in the housing 22, is reflected by the beam steering mirror 232, passes through the half mirror 234, and enters the interferometer 231. Furthermore, reference light that is a part of the measurement light ML enters the interferometer 231. As a result, the interferometer 231 optically receives (in other words, detects) the reflection light RL and the reference light. Especially, the interferometer 231 optically receives (in other words, detects) interference light generated by an interference between the reflection light RL and the reference light. The optical received result of the reflection light RL (namely, the optical received result of the interference light) is outputted to the control apparatus 3 as the measured result of the measurement apparatus 2.

[0066] The control apparatus 3 may calculate the position of the reflective member 16 based on the optical received result of the reflection light RL (namely, the optical received result of the interference light). In the present example embodiment, the control apparatus 3 may calculate a distance between the measurement apparatus 2 and the reflective member 16 as one example of the position of the reflective member 16 based on the optical received result of the reflection light RL (namely, the optical received result of the interference light). Incidentally, the control apparatus 3 may use, as a method of calculating the distance to the reflective member 16 based on the optical received result of the interference light, an existing method of using the interferometer as a distance meter. Therefore, a description of the method of calculating the distance to the reflective member 16 based on the optical received result of the interference light is omitted.

[0067] Furthermore, reflection light NL of ambient light (alternatively, illumination light) from the reflective member 16 may enters the inside of the housing 22 through the aperture 221 formed in the housing 22. In this case, the reflection light NL may be reflected by the beam steering mirror 232, may be reflected by the half mirror 234, and may enter the camera 233. The camera 233 may capture an image of the reflective member 16 by optically receiving the reflection light NL with an image sensor. The image of the reflective member 16 captured by the camera 233 may be outputted to the control apparatus 3. The control apparatus 3 may track the reflective member 16 based on the image of the reflective member 16. Furthermore, the control apparatus 3 may control the rotational movement of the housing 22 based on the image of the reflective member 16 so that the reflective member 16 is irradiated with the measurement light ML.

[0068] Incidentally, this measurement apparatus 2 may be referred to as a localizer or a laser tracker.

[0069] (5) Configuration of Control Apparatus 3 Next, with reference to FIG. 9, a configuration of the control apparatus 3 will be described. FIG. 9 is a block diagram that illustrates the configuration of the control apparatus 3.

[0070] As illustrated in FIG. 9, the control apparatus 3 includes a calculation apparatus 31, a storage apparatus 32, and a communication apparatus 33. Furthermore, the control apparatus 3 may include an input apparatus 34 and an output apparatus 35. However, the control apparatus 3 may not include at least one of the input apparatus 34 and the output apparatus 35. The calculation apparatus 31, the storage apparatus 32, the communication apparatus 33, the input apparatus 34, and the output apparatus 35 may be connected through a data bus 36.

[0071] The calculation apparatus 31 is hardware that includes at least a circuit (for example, at least one of an electronic circuit and an electrical circuit). Therefore, the calculation apparatus 31 may be referred to as a circuitry (Circuitry).

[0072] The calculation apparatus 31 includes at least one processor (namely, one processor or a plurality of processors) as the hardware. The processor may include, for example, a processor conforming to a Neumann-type computer architecture. The processor conforming to the Neumann-type computer architecture may include at least one of a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The processor may include, for example, a processor conforming to a non-Neumann-type computer architecture. The processor conforming to a non-Neuman-type computer architecture may include at least one of an FPGA (Field Programmable Gate Array) and an ASIC (Application Specific Circuit). The processor may be realized by the circuitry (for example, at least one of the electronic circuit and the electrical circuit).

[0073] The calculation apparatus 31 reads a computer program 321 that includes at least one of a computer program code and a computer program instruction. For example, the calculation apparatus 31 may read the computer program 321 stored in the storage apparatus 32. For example, the calculation apparatus 31 may read the computer program 321 stored in a computer-readable and non-transitory recording medium by using a non-illustrated recording medium reading apparatus of the control apparatus 3. The computer program 321 read from the recording medium may be stored in the storage apparatus 32. The calculation apparatus 31 may acquire (namely, may download or read) the computer program 321 from a non-illustrated apparatus located outside the control apparatus 3 through the communication apparatus 33 (alternatively, other communication apparatus). The downloaded computer program 321 may be stored in the storage apparatus 32.

[0074] The calculation apparatus 31 executes the read computer program 321. As a result, a logical functional block for performing a process that should be performed by the control apparatus 3 (for example, a process for controlling the robot 1 described above) is implemented in the calculation apparatus 31. In other words, the calculation apparatus 31 is configured to, together with the storage apparatus 32 and so on in which the computer program 321 is recorded (in other words, together with the storage apparatus 32 and the computer program 321 stored in the storage apparatus 32 and so on), serve as a controller or a computer for implementing the logical functional block for performing the process that should be performed by the control apparatus 3. Namely, a memory (a recording medium) of the storage apparatus 32 and so on and the computer program 321 are configured to, together with at least one processor of the calculation apparatus 31, allow the control apparatus 3 to perform the process that should be performed by the control apparatus 3 (for example, a process for controlling the robot 1 described above).

[0075] The calculation apparatus 31 may include a single processor. In this case, the calculation apparatus 31 may use the single processor to perform the process that should be performed by the control apparatus 3 (for example, the process for controlling the robot 1 described above). For example, in a case where the calculation apparatus 31 performs a first operation (for example, a first process that is a part of the process for controlling the robot 1) and a second operation (for example, a second process that is another part of the process for controlling the robot 1), the calculation apparatus 31 may perform both of the first and second operations by using the single processor. Alternatively, the calculation apparatus 31 may include a plurality of processors. In this case, the calculation apparatus 31 may use any one of the plurality of processors to perform the process that should be performed by the control apparatus 3 (for example, the process for controlling the robot 1 described above). For example, in a case where the calculation apparatus 31 includes first and second processors and performs the first and second operations, the calculation apparatus 31 may perform each of the first and second operations by using any one of the first and second processors. For example, the calculation apparatus 31 may perform the first operation by using the first processor, may perform the second operation by using the first processor, may perform the first operation by using the second processor, and may perform the second operation by using the second processor.

[0076] An arithmetic model that is buildable by machine learning may be implemented in the calculation apparatus 31 by the calculation apparatus 31 executing the computer program 321. One example of the arithmetic model that is buildable by the machine learning is an arithmetic model including a neural network (so-called Artificial Intelligence (AI)), for example. In this case, the learning of the arithmetic model may include learning of parameters of the neural network (for example, at least one of weights and biases). The calculation apparatus 31 may control the robot 1 1 by using the arithmetic model. Namely, the operation for controlling the robot 1 may include an operation for controlling the robot 1 by using the arithmetic model. Note that the arithmetic model that has been built by off-line machine learning using training data may be implemented in the calculation apparatus 31. Moreover, the arithmetic model implemented in the calculation apparatus 31 may be updated by online machine learning on the calculation apparatus 31. Alternatively, the calculation apparatus 31 may control the robot 1 by using the arithmetic model implemented in an apparatus external to the calculation apparatus 31 (namely, an apparatus external to the control apparatus 3), in addition to or instead of the arithmetic model implemented on the calculation apparatus 31.

[0077] Note that the recording medium recording therein the computer program 321 that is executed by the calculation apparatus 31 may include an optical disc such as a CD-ROM, a CD-R, a CD-RW, a flexible disc, a MO, a DVD-ROM, a DVD-RAM, a DVD-R, a DVD+R, a DVD-RW, a DVD+RW and a Blu-ray (registered trademark), a magnetic disc such as a magnetic tape, an optical-magnetic disc, a semiconductor memory such as a USB memory, and another medium that is configured to store the program. The recording medium may include a device that is configured to record the computer program 321 (for example, a device for a universal use or a device for an exclusive use in which the computer program 321 is embedded to be executable in a form of at least one of a software, a firmware and the like). Moreover, each process or function included in the computer program 321 may be realized by a logical process block that is realized in the calculation apparatus 31 by means of the calculation apparatus 31 (namely, the processor) executing the computer program 321, may be realized by a hardware such as a predetermined gate array (a FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit)) of the calculation apparatus 31, or may be realized in a form in which the logical process block and a partial hardware module that realizes an partial element of the hardware are combined.

[0078] The storage apparatus 32 includes at least one memory that is configured to store desired data. In other words, the storage apparatus 32 includes at least one memory that contains the desired data. The memory may be realized by a circuitry (for example, at least one of an electronic circuit and an electrical circuit). For example, the storage apparatus 32 may store the computer program 321 to be executed by the calculation apparatus 31. In this case, the storage apparatus 32 (the memory) may be used as the above-described recording medium that records the computer program 321 to be executed by the calculation apparatus 31. The storage apparatus 32 may temporarily store data that is temporarily used by the calculation apparatus 31 when the calculation apparatus 31 is executing the computer program 321. The storage apparatus 32 may store data for long-term storage by the control apparatus 3. Incidentally, the storage apparatus 32 may include at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a hard disk apparatus, a magneto-optical disk apparatus, a SSD (Solid State Drive) and a disk array apparatus. Namely, the storage apparatus 32 may include a non-transitory recording medium.

[0079] The communication apparatus 33 is configured to communicate with each of the robot 1 and the measurement apparatus 2 through a non-illustrated communication network. Alternatively, the communication apparatus 33 may be configured to communicating with another apparatus different from the robot 1 and the measurement apparatus 2 in addition to or instead of at least one of the robot 1 and the measurement apparatus 2 through the non-illustrated communication network. In the present example embodiment, the communication apparatus 33 may receive (namely, acquire) the measured result by the measurement apparatus 2 (namely, the information related to the position of the base 13, and information related to the optical received result of the reflection light RL from the reflective member 16) from the measurement apparatus 2. Furthermore, the communication apparatus 33 may receive (namely, acquire) the measured result by the measurement apparatus 142 (namely, the information related to the position of the end effector 15) from the measurement apparatus 142 of the robot 1. Furthermore, the communication apparatus 33 may transmit (namely, output) the robot control signals to the robot 1.

[0080] The input apparatus 34 is an apparatus that is configured to receive an input of information to the control apparatus 3 from an outside of the control apparatus 3. For example, the input apparatus 34 may include an operational apparatus (for example, at least one of a keyboard, a mouse, and a touch panel) that can be operated by a user of the control apparatus 3. For example, the input apparatus 34 may include a recording medium reading apparatus that is configured to read information recorded as data on a recording medium that is externally attachable to the control apparatus 3.

[0081] Incidentally, the information can be inputted to the control apparatus 3 as the data from the apparatus external to the control apparatus 3 through the communication apparatus 33. In this case, the communication apparatus 33 may serve as an input apparatus that is configured to receive the input of the information to the control apparatus 3 from the apparatus external to the control apparatus 3.

[0082] The output apparatus 35 is an apparatus that is configured to output information to the outside of the control apparatus 3. For example, the output apparatus 35 may output information as an image. Namely, the output apparatus 35 may include a display apparatus (a so-called display) configured to display the image. For example, the output apparatus 35 may output information as audio. Namely, the output apparatus 35 may include an audio apparatus (a so-called speaker) configured to output the audio. For example, the output apparatus 35 may output information on a paper. Namely, the output apparatus 35 may include a printing apparatus (a so-called printer) configured to print desired information on paper. For example, the output apparatus 35 may output information as data on a recording medium that is externally attachable to the control apparatus 3.

[0083] Incidentally, the information can be outputted as the data from the control apparatus 3 to the apparatus external to the control apparatus 3 through the communication apparatus 33. In this case, the communication apparatus 33 may serve as an output apparatus that is configured to output the information to the apparatus external to the control apparatus 3.

[0084] (6) Operation of Robot System SYS Next, with reference to FIG. 10, an operation of the robot system SYS in the present example embodiment will be described. FIG. 10 is a flowchart that illustrates a flow of the operation of the robot system SYS in the present example embodiment.

[0085] As illustrated in FIG. 10, in order to perform the predetermined operation on the workpiece W, the robot system SYS measures the position of the base 13 of the robot 1 by using the measurement apparatus 2 (a step S11). Namely, the measurement apparatus 2 measures the position of the base 13 of the robot 1 (the step S11).

[0086] In order to measure the position of the base 13, the measurement apparatus 2 irradiates the reflective member 16 with the measurement light ML as described above. Furthermore, the measurement apparatus 2 optically receives the reflection light RL that is the measurement light ML reflected by the reflective member 16. In a case where the measurement apparatus 2 includes the interferometer 231 illustrated in FIG. 8, the measurement apparatus 2 optically receives the interference light generated by the interference between the measurement light ML reflected by the reflective member 16 and the reference light. The optical received result of the reflection light RL by the measurement apparatus 2 (for example, the optical received result of the interference light) is outputted from the measurement apparatus 2 to the control apparatus 3 as the measured result by the measurement apparatus 2.

[0087] Then, the control apparatus 3 calculates the position of the end effector 15 based on the measured result by the measurement apparatus 2 at the step S11 (a step S12). Especially, the control apparatus 3 may calculate the position of the end effector 15 in the reference coordinate system based on the measured result by the measurement apparatus 2 at the step S11.

[0088] In order to calculate the position of the end effector 15, the control apparatus 3 may calculate the position of the reflective member 16 of the base 13 based on the measured result by the measurement apparatus 2 at the step S11. For example, in a case where the measurement apparatus 2 includes the interferometer 231 illustrated in FIG. 8, the control apparatus 3 may calculate the distance between the measurement apparatus 2 and the reflective member 16 as the position of the reflective member 16 based on the measured result by the measurement apparatus 2 at the step S11. Especially, in a case where the base 13 includes at least three reflective members 16 as described above, the control apparatus 3 may calculate the positions of the at least three reflective members 16 based on the measured result by the measurement apparatus 2 at the step S11. For example, the control apparatus 3 may calculate the distance between the measurement apparatus 2 and each of the at least three reflective members 16 based on the measured result by the measurement apparatus 2 at the step S11.

[0089] Then, the control apparatus 3 may calculate the position of the base 13 based on the calculated result of the position of the reflective members 16 (for example, the calculated result of the distance between the measurement apparatus 2 and the reflective members 16). Especially, the control apparatus 3 may calculate the position of the base 13 in the reference coordinate system based on the calculated result of the position of the reflective member 16 (for example, the calculated result of the distance between the measurement apparatus 2 and the reflective member 16). For example, the control apparatus 3 may calculate at least one of the position of the base 13 in the linear direction along the X-axis (reference), the position of the base 13 in the linear direction along the Y-axis (reference), the position of the base 13 in the linear direction along the Z-axis (reference), the position of the base 13 in the rotational direction around the X-axis (reference), the position of the base 13 in the rotational direction around the Y-axis (reference), and the position of the base 13 in the rotational direction around the Z-axis (reference), based on the calculated result of the position of the at least one reflective member 16 (for example, the calculated result of the distance between the measurement apparatus 2 and the at least one reflective member 16). In a case where the base 13 includes at least three reflective members 16 as described above, the calculated result of the positions of the at least three reflective members 16 is equivalent to the calculated result of positions of at least three parts of the base 13 at which the at least three reflective members 16 are located, respectively. Therefore, the control apparatus 3 may calculates the position of the base 13 in the linear direction along the X-axis (reference), the position of the base 13 in the linear direction along the Y-axis (reference), the position of the base 13 in the linear direction along the Z-axis (reference), the position of the base 13 in the rotational direction around the X-axis (reference), the position of the base 13 in the rotational direction around the Y-axis (reference), and the position of the base 13 in the rotational direction around the Z-axis (reference), based on the calculated result of the positions of the at least three reflective members 16 (namely, the calculated result of the positions of the at least three parts of the base 13).

[0090] Then, the control apparatus 3 may calculate the position of the end effector 15 based on the calculated result of the position of the base 13. Especially, the control apparatus 3 may calculate the position of the end effector 15 in the reference coordinate system based on the calculated result of the position of the base 13 in the reference coordinate system. For example, the control apparatus 3 may calculate at least one of the position of the end effector 15 in the linear direction along the X-axis (reference), the position of the end effector 15 in the linear direction along the Y-axis (reference), the position of the end effector 15 in the linear direction along the Z-axis (reference), the position of the end effector 15 in the rotational direction around the X-axis (reference), the position of the end effector 15 in the rotational direction around the Y-axis (reference), and the position of the end effector 15 in the rotational direction around the Z-axis (reference).

[0091] The control apparatus 3 may calculate the position of the end effector 15 based on the calculated result of the position of the base 13 in the reference coordinate system and the information related to the position of the end effector 15 relative to the base 13 (namely, the position of the end effector 15 in the base coordinate system).

[0092] For example, in the present example embodiment, the movement apparatus 14 is attached to the base 13 and the end effector 15 is attached to the movement apparatus 14 as described above. In this case, the position of the end effector 15 relative to the base 13 does not change unless the movement apparatus 14 moves the end effector 15. Therefore, the control apparatus 3 may acquire, as the information related to the position of the end effector 15 relative to the base 13, information related to the position of the end effector 15 relative to the base 13 in a case where the end effector 15 is located at movement origin point the movement apparatus 14 (namely, is located at the initial position). In this case, the control apparatus 3 may calculate the position of the end effector 15 in the reference coordinate system by adding the position of the end effector 15, which is located at the movement origin point, relative to the base 13 to the calculated result of the position of the base 13 in the reference coordinate system.

[0093] For example, in a case where the movement apparatus 14 has moved or is moving the end effector 15 from the movement origin point, the position of the end effector 15 relative to the base 13 changes based on the moving distance of the end effector 15 by the movement apparatus 14. Therefore, the control apparatus 3 may acquire, as the information related to the position of the end effector 15 relative to the base 13, information related to the measured result of the position of the end effector 15 by the measurement apparatus 142 of the movement apparatus 14. In this case, the control apparatus 3 may calculate the position of the end effector 15 in the reference coordinate system by adding the position of the end effector 15, which has been moved or is moving by the movement apparatus 14, relative to the base 13 to the calculated result of the position of the base 13 in the reference coordinate system. As one example, in a case where the measurement apparatus 142 includes the encoders 142X, 142Y, and 142Z as described above, the measurement apparatus 142 may calculate the moving distance of the end effector 15 (especially, the moving distance relative to the base 13) based on the measured result by the encoders 142X, 142Y, and 142Z. Then, the control apparatus 3 may calculate the position of the end effector 15 in the reference coordinate system by adding the moving distance of the end effector 15, which has been moved or is moving by the movement apparatus 14, relative to the base 13 to the calculated result of the position of the base 13 in the reference coordinate system. Alternatively, the measurement apparatus 142 may calculate the moving distance of the end effector 15 (especially, the moving distance relative to the movement origin) based on the measured result by the encoders 142X, 142Y and 142Z. Then, the control apparatus 3 calculates a tentative position of the end effector 15 in the reference coordinate system by adding the position of the end effector 15, which is located at the movement origin point, relative to the base 13 to the calculated result of the position of the base 13 in the reference coordinate system, and then calculate a definite position of the end effector 15 in the reference coordinate system by adding the moving distance of the end effector 15, which has been moved or is moving by the movement apparatus 14, relative to the base 13 to the calculated result of the tentative position of the end effector 15.

[0094] Then, the control apparatus 3 controls the robot 1 to move the end effector 15 based on the calculated result of the position of the end effector 15 at the step S12 (a step S13). Specifically, the control apparatus 3 controls at least one of the robotic arm 12 and the movement apparatus 14, which are configured to move the end effector 15, to move the end effector 15 based on the calculated result of the position of the end effector 15 at the step S12 (the step S13).

[0095] As a first example, the control apparatus 3 may control the robot 1 so that the end effector 15 located at the position calculated at the step S12 moves toward the workpiece W on which the robot 1 should perform the predetermined operation. As a second example, the control apparatus 3 may control the robot 1 so that the end effector 15 located at the position calculated at the step S12 moves to a desired target position. The desired target position may include a position at which the end effector 15 should be located at a time the robot 1 performs the predetermined operation on the workpiece W by using the end effector 15. As a third example, the control apparatus 3 may control the robot 1 so that the end effector 15 located at the position calculated at the step S12 moves along a desired movement path.

[0096] Then, the control apparatus 3 determines whether or not the operation for controlling the robot 1 should be ended (a step S14). As a result of the determination at the step S14, in a case where it is determined that the operation for controlling the robot 1 should be ended (the step S14: Yes), the control apparatus 3 may end the operation illustrated in FIG. 10. On the other hand, as a result of the determination at the step S14, in a case where it is determined that the operation for controlling the robot 1 should not be ended (the step S14: No), the control apparatus 3 may repeat the operation from the step S11 to the step S13.

[0097] (7) Technical Effect of Robot System SYS As described above, in the present example embodiment, the control apparatus 3 can calculate the position of the end effector 15 based on the measured result by the measurement apparatus 2. Specifically, the control apparatus 3 can calculate the position of the end effector 15 attached to the base 13 through the movement apparatus 14 based on the measured result of the position of the reflective member 16 of the base 13. In this case, for below-described technical reasons, the control apparatus 3 can calculate the position of the end effector 15 with high accuracy based on the measured result by the measurement apparatus 2. Especially, the control apparatus 3 can calculate the position of the end effector 15 with higher accuracy based on the measured result by the measurement apparatus 2, compared to a case where the reflective member 16 is located on the robotic arm 12. As a result, the control apparatus 3 can properly control the robot 1 based on the calculated position of the end effector 15.

[0098] First, a first technical reason will be described. In a case where the reflective member 16, which is actually measured by the measurement apparatus 2 to calculate the position of the end effector 15, is located on the base 13, the reflective member 16 is located closer to the end effector 15, which is a target for calculating the position, compared to a case where the reflective member 16 is located on the robotic arm 12. Here, a calculation accuracy of the position of the end effector 15 based on the measured result of the position of the reflective member 16 is higher as the reflective member 16 is closer to the end effector 15. Therefore, in the present example embodiment, the control apparatus 3 can calculate the position of the end effector 15 with higher accuracy based on the measured result by the measurement apparatus 2, compared to a case where the reflective member 16 is located on the robotic arm 12.

[0099] Next, a second technical reason will be described. In a case where the reflective member 16 is located on the robotic arm 12, the measured result of the reflective member 16 by the measurement apparatus 2 does not include a component caused by an attachment error of the base 13 to the robotic arm 12. Namely, there is a possibility that the measured result of the reflective member 16 by the measurement apparatus 2 under a situation where the attachment error of the base 13 to the robotic arm 12 does not occur is the same as the measured result of the reflective member 16 by the measurement apparatus 2 under a situation where the attachment error of the base 13 to the robotic arm 12 occurs. Therefore, there is a possibility that the calculated result of the position of the end effector 15 calculated based on the measured result of the reflective member 16 by the measurement apparatus 2 under the situation where the attachment error of the base 13 to the robotic arm 12 does not occur is the same as the calculated result of the position of the end effector 15 calculated based on the measured result of the reflective member 16 by the measurement apparatus 2 under the situation where the attachment error of the reflective member 16 to the robotic arm 12 occurs. However, in reality, the position of the end effector 15 under the situation where the attachment error of the base 13 to the robotic arm 12 occurs should be different from the position of the end effector 15 under the situation where the attachment error of the base 13 to the robotic arm 12 does not occur by an amount of the attachment error. Therefore, in a case where the reflective member 16 is located on the robotic arm 12, there is a possibility that the calculation accuracy of the position of the end effector 15 deteriorates due to the attachment error of the base 13 on the robotic arm 12.

[0100] In the present example embodiment, however, the reflective member 16 is located on the base 13. Therefore, the measured result of the reflective member 16 by the measurement apparatus 2 includes the component caused by the attachment error of the base 13 to the robotic arm 12. Namely, the measured result of the reflective member 16 by the measurement apparatus 2 under the situation where the attachment error of the base 13 to the robotic arm 12 occurs is different from the measured result of the reflective member 16 by the measurement apparatus 2 under the situation where the attachment error of the base 13 to the robotic arm 12 does not occur by an amount of the attachment error. Therefore, the calculated result of the position of the end effector 15 calculated based on the measured result of the reflective member 16 by the measurement apparatus 2 under the situation where the attachment error of the base 13 to the robotic arm 12 occurs is different from the calculated result of the position of the end effector 15 calculated based on the measured result of the reflective member 16 by the measurement apparatus 2 under the situation where the attachment error of the reflective member 16 to the robotic arm 12 does not occur by an amount of the attachment error. Therefore, in a case where the reflective member 16 is located on the base 13, there is a low possibility that the calculation accuracy of the position of the end effector 15 deteriorates even in a case where the attachment error of the base 13 to the robotic arm 12 occurs. As a result, the control apparatus 3 can calculate the position of the end effector 15 with high accuracy based on the measured result by the measurement apparatus 2, even in a case where the attachment error of the base 13 to the robotic arm 12 occurs.

[0101] Next, a third technical reason will be described. In a case where the reflective member 16 is located on the robotic arm 12, there is a possibility that a misalignment (especially, an undesired misalignment) of the base 13 to the robotic arm 12 occur due to at least one of a weight of the base, a weight of the movement apparatus 14 attached to the base 13, and a weight of the end effector 15 attached to the movement apparatus 14. Here, in a case where the reflective member 16 is located on the robotic arm 12, he measured result of the reflective member 16 by the measurement apparatus 2 does not include a component caused by the misalignment of the base 13 to the robotic arm 12. Namely, there is a possibility that the measured result of the reflective member 16 by the measurement apparatus 2 under a situation where the misalignment of the base 13 to the robotic arm 12 does not occur is the same as the measured result of the reflective member 16 by the measurement apparatus 2 under a situation where the misalignment of the base 13 to the robotic arm 12 occurs. Therefore, there is a possibility that the calculated result of the position of the end effector 15 calculated based on the measured result of the reflective member 16 by the measurement apparatus 2 under the situation where the misalignment of the base 13 to the robotic arm 12 does not occur is the same as the calculated result of the position of the end effector 15 calculated based on the measured result of the reflective member 16 by the measurement apparatus 2 under the situation where the misalignment of the reflective member 16 to the robotic arm 12 occurs. However, in reality, the position of the end effector 15 under the situation where the misalignment of the base 13 to the robotic arm 12 occurs should be different from the position of the end effector 15 under the situation where the misalignment of the base 13 to the robotic arm 12 does not occur by an amount of the misalignment. Therefore, in a case where the reflective member 16 is located on the robotic arm 12, there is a possibility that the calculation accuracy of the position of the end effector 15 deteriorates due to the misalignment of the base 13 on the robotic arm 12.

[0102] In the present example embodiment, however, the reflective member 16 is located on the base 13. Therefore, the measured result of the reflective member 16 by the measurement apparatus 2 includes the component caused by the misalignment of the base 13 to the robotic arm 12. Namely, the measured result of the reflective member 16 by the measurement apparatus 2 under the situation where the misalignment of the base 13 to the robotic arm 12 occurs is different from the measured result of the reflective member 16 by the measurement apparatus 2 under the situation where the misalignment of the base 13 to the robotic arm 12 does not occur by an amount of the misalignment. Therefore, the calculated result of the position of the end effector 15 calculated based on the measured result of the reflective member 16 by the measurement apparatus 2 under the situation where the misalignment of the base 13 to the robotic arm 12 occurs is different from the calculated result of the position of the end effector 15 calculated based on the measured result of the reflective member 16 by the measurement apparatus 2 under the situation where the misalignment of the reflective member 16 to the robotic arm 12 does not occur by an amount of the misalignment. Therefore, in a case where the reflective member 16 is located on the base 13, there is a low possibility that the calculation accuracy of the position of the end effector 15 deteriorates even in a case where the misalignment of the base 13 to the robotic arm 12 occurs. As a result, the control apparatus 3 can calculate the position of the end effector 15 with high accuracy based on the measured result by the measurement apparatus 2, even in a case where the misalignment of the base 13 to the robotic arm 12 occurs.

[0103] In addition, in the present example embodiment, the base 13 is attachable to the robotic arm 12 and detachable from the robotic arm 12 in a unit of the head group 17 that includes the base 13, the movement apparatus 14 attached to the base 13, and the end effector 15 attached to the movement apparatus 14. Namely, the base 13, the movement apparatus 14, and the end effector 15 are exchangeable together. In this case, both of the end effector 15 and the movement apparatus 14 are exchanged by the exchange of the head group 17, and therefore, one type of end effector 15 and one type of movement apparatus 14 that is suitable for moving the one type of end effector 15 are attached to the robotic arm 12 through the base 13. Therefore, the control apparatus 3 can move the one type of end effector 15 by using the one type of movement apparatus 14 that is suitable for moving the one type of end effector 15. Therefore, the control apparatus 3 can move the one type of end effector 15, compared to a case where the one type of end effector 15 and another type of movement apparatus 14 that is different from the one type of movement apparatus 14 suitable for moving the one type of end effector 15 are attached to the robotic arm 12. Namely, the control apparatus 3 can properly control the robot 1 so as to move the one type of end effector 15 more appropriately.

[0104] As one example, an example in which it is suitable to move a first type of end effector 15 by using a first type of movement apparatus 14 (a three-axis driven type of movement apparatus 14) that is configured to move the end effector 15 along each of the X-axis (base), the Y-axis (base) and the Z-axis (base), and it is suitable to move a second type of end effector 15 by using a second type of movement apparatus 14 (a two-axis driven type of movement apparatus 14) that is configured to move the end effector 15 along each of the X-axis (base) and the Y-axis (base) but may not move the end effector 15 along the Z-axis (base). In this case, in the present example embodiment, the control apparatus 3 can properly move the first type of end effector 15 by using the first type of movement apparatus 14 because the head group 17 including the first type of end effector 15 and the first type of movement apparatus 14 is attached to the robotic arm 12. After the head group 17 attached to the robotic arm 12 is exchanged from the head group 17 including the first type of end effector 15 and the first type of movement apparatus 14 to the head group 17 including the second type of end effector 15 and the second type of movement apparatus 14, the control apparatus 3 can properly move the second type of end effector 15 by using the second type of movement apparatus 14.

[0105] (8) Modified Example In the above-described description, the control apparatus 3 performs a process for controlling the robot 1 (for example, a process from the step S12 to the step S14 in FIG. 10). However, the robot 1 may include a control apparatus that is configured to perform the process for controlling the robot 1. In this case, not the control apparatus 3 but the control apparatus of the robot 1 may perform the process for controlling the robot 1. A configuration of the control apparatus of the robot 1 may be the same as the configuration of the control apparatus 3. Moreover, the measurement apparatus 2 may include a control apparatus that is configured to perform the process for controlling the robot 1. In this case, not the control apparatus 3 but the control apparatus of the measurement apparatus 2 may perform the process for controlling the robot 1. A configuration of the control apparatus of the measurement apparatus 2 may be the same as the configuration of the control apparatus 3.

[0106] Alternatively, at least two of the control apparatus 3, the control apparatus of the robot 1, and the control apparatus of the measurement apparatus 2 may perform the process for controlling the robot 1 in coordination with each other (in other words, in cooperation with each other). For example, one of the control apparatus 3, the control apparatus of the robot 1, and the control apparatus of the measurement apparatus 2 may perform a part of the process for controlling the robot 1, and another one of the control apparatus 3, the control apparatus of the robot 1, and the control apparatus of the measurement apparatus 2 may perform another part of the process for controlling the robot 1.

[0107] Moreover, in the above-described description. the reflective member 16 is located on the base 13. However, the reflective member 16 may be located on the end effector 15.

[0108] At least a part of the features of each embodiment described above may be properly combined with at least another part of the features of each embodiment described above. A part of the features of each embodiment described above may not be used. Moreover, the disclosures of all publications and United States patents that are cited in each embodiment described above are incorporated in the disclosures of the present application by reference if it is legally permitted.

[0109] The present invention is allowed to be changed, if desired, without departing from the essence or spirit of the invention which can be read from the claims and the entire specification, and a robot system, a robot control method, and a robot, which involve such changes, are also intended to be within the technical scope of the present invention. Description of Reference Codes

[0110] SYS robot system 1 robot 12 robotic arm 13 base 14 movement apparatus 141 driving system 142 measurement apparatus 15 end effector 16 reflective member 17 head group 2 measurement apparatus 3 control apparatus 31 calculation apparatus 32 storage apparatus

Claims

1. A robot system comprising: a robot; a measurement apparatus; and a control apparatus, wherein the robot includes: a robotic arm; an end effector; a movement apparatus to which the end effector is attached and which is configured to move the end effector along a translation axis; and a base to which the movement apparatus is attached and which is located at a position that is fixed relative to the robotic arm, the base includes a reflective member, the measurement apparatus measures a position of the base, the control apparatus controls at least one of the robotic arm and the movement apparatus based on a measured result by the measurement apparatus, the base is detachable from the robotic arm.

2. The robot system according to claim 1, wherein the measurement apparatus is a first measurement apparatus, the movement apparatus includes: a driving system that is configured to move the end effector along the translation axis; and a second measurement apparatus that acquires information related to a position of the end effector moved by the driving system, the control apparatus controls at least one of the robotic arm and the movement apparatus based on a measured result of the reflective member by the first measurement apparatus and a measured result by the second measurement apparatus.

3. The robot system according to claim 2, wherein the second measurement apparatus includes an encoder.

4. The robot system according to claim 2 or 3, wherein the driving system is attached to the base, the base is attached to the robotic arm.

5. The robot system according to any one of claims 1 to 4, wherein the reflective member includes at least three reflective members, the measurement apparatus measures positions of the at least three reflective members.

6. The robot system according to claim 5, wherein the control apparatus acquires information related to the positions of the base based on information related to the positions of at least three reflective members.

7. The robot system according to claim 5 or 6, wherein the measurement apparatus measures a position of the base along a first axis, a position of the base along a second axis intersecting the first axis, a position of the base along a third axis intersecting the first and second axes, a position of the base along a first rotational direction around the first axis, a position of the base along a second rotational direction around the second axis, and a position of the base along a third rotational direction around the third axis, by measuring the positions of at least three reflective members.

8. The robot system according to any one of claims 1 to 7, wherein the base is attachable to the robotic arm in a state where the end effector remains being attached to the movement apparatus.

9. The robot system according to any one of claims 1 to 8, wherein after the base with the attached movement apparatus with the attached end effector is detached from the robotic arm, another base with attached another movement apparatus different from the movement apparatus, which is configured to move another end effector different from the end effect along another translation axis different from the translation axis, with attached another end effector different from the end effect is attached to the robotic arm.

10. The robot system according to any one of claims 1 to 9, wherein the movement apparatus is configured to move the end effector along each of a first translation axis as the translation axis, a second translation axis that intersects the first translation axis and that is different from the first translation axis, and a third translation axis that intersects the first and second translational axes and that is different from the first and second translational axes.

11. The robot system according to any one of claims 1 to 10, wherein the end effector includes an additive manufacturing head that is configured to perform an additive manufacturing for building a build object.

12. The robot system according to claim 11, wherein an additive manufacturing head is configured to perform the additive manufacturing by irradiating an object with a processing beam and supplying a material to an irradiation position of the processing beam.

13. The robot system according to any one of claims 1 to 12, wherein the end effector includes a measurement head that is configured to measure an object.

14. The robot system according to any one of claims 1 to 13, wherein the end effector includes a machining head that is configured to perform a machining of an object.

15. A robot control method for controlling a robot, wherein the robot includes: a robotic arm; an end effector; a movement apparatus to which the end effector is attached and which is configured to move the end effector along a translation axis; and a base to which the movement apparatus is attached and which is located at a position that is fixed relative to the robotic arm, the robot control method comprises: measuring a position of the base by using a measurement apparatus; and controlling at least one of the robotic arm and the movement apparatus based on a measured result by the measurement apparatus, the base is detachable from the robotic arm.

16. A robot comprising: a robotic arm; an end effector; a movement apparatus to which the end effector is attached and which is configured to move the end effector along a translation axis; and a base to which the movement apparatus is attached and which is located at a position that is fixed relative to the robotic arm, the base is detachable from the robotic arm in a state where the movement apparatus with the attached end effector remains being attached thereto.

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