| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control system which can reduce time and cost required for calibration of a robot and a camera, and can be easily applied to an existing industrial robot.SOLUTION: A robot control system comprises a camera 2, an encoder 3 provided in a robot, and control means 4 of the robot. In this system, an error between a position of a fingertip part of a robot detected by the camera 2 and a target position that is a movement destination of the fingertip part of the robot detected by the camera 2 is calculated. After converting the error from a camera coordinate system into a robot coordinate system, a virtual target position of the fingertip part is set by adding the error to the position of the fingertip part of the robot detected by the encoder 3. Then, an arm of the robot is controlled so that the fingertip part of the robot moves to the set virtual target position.SELECTED DRAWING: Figure 2 |
