ROBOT SYSTEM HAVING FUNCTION TO CALCULATE POSITION AND ORIENTATION OF SENSOR

摘要

A robot control device which controls a robot includes a sensor coordinate system calculation unit which calculates a position and an orientation of a sensor by making the robot perform a predetermined operation. The sensor coordinate system calculation unit comprises an operation parameter optimization unit which is configured to obtain a combination most suitable for calculating the position and orientation of the sensor, from a plurality of combinations of modified. values of a predetermined type of operation. parameters, by making the robot perform the predetermined operation, successively using each of the combinations.

主权项

1. A robot system comprising a robot having a movable part to which a sensor is attached to monitor at least vibrations, and a control device which controls the operation of the robot, wherein
the control device comprises a sensor coordinate system calculation unit which calculates a position and an orientation of the sensor by causing the robot to perform a predetermined operation, and the sensor coordinate system calculation unit comprises an operation parameter optimization unit which is configured to obtain a combination most suitable for calculating the position and orientation of the sensor, from a plurality of combinations of modified values of a predetermined type of operation parameters, by making the robot perform the predetermined operation, successively using each of the combinations.