ROBOT SYSTEM, CALIBRATION METHOD IN ROBOT SYSTEM, AND POSITION CORRECTING METHOD IN ROBOT SYSTEM

摘要

A robot system includes a robot including a main body and a hand. An imaging device picks up an image of a workpiece held by the hand An image pick-up controller sends movement information to a robot controller to move the workpiece held by the robot to a plurality of positions, controls the imaging device to pick up the image of the workpiece at the plurality of positions, recognizes a registered portion of the workpiece at the plurality of positions, and performs a calibration based on the movement information and based on a result of recognizing the registered portion of the workpiece held by the robot at the plurality of positions. The calibration includes correlating positional information of the image picked up by the imaging device to positional information of the robot.

主权项

1. A robot system comprising:
a robot comprising:
a hand configured to hold a workpiece; anda multi-articular robot main body to which the hand is mounted; an imaging device configured to pick up an image of the workpiece held by the hand; a robot controller configured to control the robot main body to operate; and an image pick-up controller configured to control the imaging device to pick up the image of the workpiece held by the hand, the image pick-up controller being configured to send movement information to the robot controller so as to control the robot controller to move the workpiece held by the robot to a plurality of positions, configured to control the imaging device to pick up the image of the workpiece held by the robot at the plurality of positions, configured to recognize a registered portion of the workpiece held by the robot at the plurality of positions, and configured to perform a calibration based on the movement information and based on a result of recognizing the registered portion of the workpiece held by the robot at the plurality of positions, the calibration comprising correlating positional information of the image picked up by the imaging device to positional information of the robot.