Robot control apparatus, robot control method, program, and recording medium

摘要

A first coordinate system CA of the hand unit, a second coordinate system CB of the first workpiece, and a third coordinate system CC of a second workpiece in a camera coordinate system are calculated (S2, S3, and S4). First and second coordinate transformation matrices ATB and ATC are calculated (S5 and S6). Coordinate data of a target point is set in the coordinate system of the first workpiece (S7). Coordinate data of an instruction point is set in the coordinate system of the second workpiece (S8). The coordinate data of the target point is subjected to coordinate transformation using the first coordinate transformation matrix ATB (S9). The coordinate data of the instruction point is subjected to coordinate transformation using the second coordinate transformation matrix ATC (S10). Operation instructions are generated using the converted coordinate data (S11).

主权项

1. A robot control apparatus controlling a robot body including an arm unit having a plurality of link members coupled with one another and a hand unit which is disposed at an end of the arm unit, which grasps a first workpiece, and which attaches the grasped first workpiece to a second workpiece, the robot control apparatus, comprising:
a camera configured to output image data obtained by capturing an image of the robot body, the first workpiece, and the second workpiece; a first coordinate system calculation unit configured to calculate a first coordinate system representing a position and orientation of the hand unit in a camera coordinate system of the camera from the image data; a second coordinate system calculation unit configured to calculate a second coordinate system representing a position and orientation of the first workpiece in the camera coordinate system of the camera from the image data; a third coordinate system calculation unit configured to calculate a third coordinate system representing a position and orientation of the second workpiece in the camera coordinate system of the camera from the image data; a first coordinate transformation matrix calculation unit configured to calculate a first coordinate transformation matrix used to transfer the second coordinate system into the first coordinate system; a second coordinate transformation matrix calculation unit configured to calculate a second coordinate transformation matrix used to transfer the third coordinate system into the first coordinate system; a target-point setting unit configured to set, in a coordinate system of the first workpiece, coordinate data of a target point having a constant position and orientation relative to the first workpiece; an instruction-point setting unit configured to set, in a coordinate system of the second workpiece, coordinate data of an instruction point which allows the target point to pass in a constant position and orientation relative to the second workpiece; a first coordinate transformation unit configured to perform coordinate transformation on the coordinate data of the target point set by the target-point setting unit using the first coordinate transformation matrix; a second coordinate transformation unit configured to perform coordinate transformation on the coordinate data of the instruction point set by the instruction-point setting unit using the second coordinate transformation matrix; an operation instruction generation unit configured to generate operation instructions for operating the robot body so that the robot body traces a trajectory obtained such that the coordinate data of the target point which has been subjected to the coordinate transformation by the first coordinate transformation unit passes a position of the coordinate data of the instruction point which has been subjected to the coordinate transformation by the second coordinate transformation unit; and an operation instruction output unit configured to output the operation instructions generated by the operation instruction generation unit to the robot body.