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1. (WO2018043525) ROBOT SYSTEM, ROBOT SYSTEM CONTROL DEVICE, AND ROBOT SYSTEM CONTROL METHOD

Pub. No.:    WO/2018/043525    International Application No.:    PCT/JP2017/031056
Publication Date: Fri Mar 09 00:59:59 CET 2018 International Filing Date: Thu Aug 31 01:59:59 CEST 2017
IPC: B25J 13/08
B25J 9/10
Applicants: KURASHIKI BOSEKI KABUSHIKI KAISHA
倉敷紡績株式会社
Inventors: NAGAI, Ryo
永井 亮
KUROSAWA, Akio
黒澤 昭夫
Title: ROBOT SYSTEM, ROBOT SYSTEM CONTROL DEVICE, AND ROBOT SYSTEM CONTROL METHOD
Abstract:
A multijoint robot system is provided which has a low calibration operation load and which can shorten the time for a hand to move to a target. This robot system (10) is provided with a multijoint robot (20) which can move a hand (24) autonomously to a target (52), one or more cameras (30, 31) which image the workspace of the robot, and a control device (40). The control device stores a reference table that associates position information based on a camera image and orientation parameters of the robot; when moving the hand to the target, the control unit acquires an image from the camera, recognizes the target in the image and calculates position information about the target: if said position information is discovered in the reference table, then the orientation parameters associated with the position information are transmitted to the robot and the hand is moved to the target; if no position information about the target is discovered in the reference table, then the hand is autonomously moved towards the target and the reference table is supplemented and updated before and/or after the hand reaches the target.