ROBOT SYSTEM AND CALIBRATION METHOD

摘要

A robot system includes: a robot arm; a camera; a calibration jig with a marker that allows image recognition; and a calibration apparatus configured to derive a correlation between camera coordinates being coordinates in a photographed image and robot coordinates using the robot arm as a reference. The robot arm is configured to have a posture corresponding to a relative position of the camera with respect to the marker. The calibration apparatus sets a plurality of photographing positions by changing the relative position, acquires the camera coordinates of the marker in the plurality of photographing positions and information of the posture of the robot arm, and derives the correlation.

主权项

1. A robot system, comprising
a robot arm; a camera configured to photograph a workpiece; a calibration jig with a marker that allows image recognition; and a calibration apparatus configured to derive a correlation between camera coordinates and robot coordinates, the camera coordinates being coordinates in an image photographed by the camera, the robot coordinates being coordinates using the robot arm as a reference, wherein the robot arm is configured to have a posture corresponding to a relative position of the camera with respect to the marker, the calibration apparatus includes:
an arm controller configured to control the robot arm to change the relative position of the camera with respect to the marker, so as to set a plurality of photographing positions;a camera-coordinate acquirer configured to acquire the camera coordinates of the marker to be obtained by photographing in the plurality of photographing positions;a posture-information acquirer configured to acquire information of the posture of the robot arm when the marker is photographed by the camera in the plurality of photographing positions; anda correlation derivation unit configured to derive the correlation between the camera coordinates and the robot coordinates based on the camera coordinates acquired by the camera-coordinate acquirer and the posture information acquired by the posture-information acquirer.