IP Library › Granted Patent US 9,043,023
Granted Patent B2
US 9,043,023 · App. 12/972,916 · Granted May 26, 2015

Robot system, and control apparatus and method thereof

Inventor: Hideo Noro (Tokyo, JP)
Assignee: Canon Kabushiki Kaisha
B25J9/1687B25J9/1664B25J15/10B25J9/1676B25J15/00G05B2219/39487B25J9/1612B25J13/02B25J9/1666G05B2219/36504
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Quick Facts
Patent No.
US 9,043,023
App. No.
12/972,916
Granted
May 26, 2015
Kind
B2
Abstract

A robot system, including an arm capable of controlling a position and orientation of an arm tip portion, a hand, which is attached to the arm tip portion and which includes a grasping mechanism configured to grasp an operation target, capable of controlling a relative position and orientation from the arm tip portion of the grasped operation target, and a position and orientation measurement apparatus configured to perform relative position and orientation measurement from the arm tip portion of the grasped operation target, wherein measurement of the relative position and orientation from the arm tip portion of the operation target is performed after the operation target is grasped by the grasping mechanism, while the arm tip portion is still moving, and correction of the relative position and orientation from the arm tip portion of the hand is performed based on a result of the position and orientation measurement so that the arm tip portion takes a predetermined relative position and orientation from the arm tip portion.

Claims (58)

1. A robot system comprising:

at least one processor communicatively-coupled to a memory;

an arm capable of controlling a position and orientation of an arm tip portion;

a holding unit, which is attached to the arm tip portion and which comprises a holding mechanism configured to hold a target object, capable of controlling a relative position and orientation of a first target object held by the holding mechanism to the arm tip portion;

a first position and orientation measurement unit configured to measure the relative position and orientation of the first target object held by the holding unit to the arm tip portion;

a second position and orientation measurement unit configured to measure a second position and orientation of a second target object to be fitted or assembled with the first target object; and

a correction unit configured to correct a position and orientation of the holding unit by controlling the holding unit, without changing controlling amount of the arm based on a result of both the first position and orientation measurement unit and the second position and orientation measurement unit while the arm is still moving after the holding unit holds the first target object.

2. The robot system according to claim 1 , wherein the correction unit is configured to complete position and orientation measurement, and position and orientation correction of the first target object before movement of the arm tip portion is completed.

3. The robot system according to claim 1 , wherein the correction unit is configured to repeatedly execute position and orientation measurement, and position and orientation correction of the first target object while the arm tip portion is still moving.

4. The robot system according to claim 1 , further comprising a selection unit configured to select a movement path of the arm tip portion from among a plurality of predetermined paths based on a result of the first position and orientation measurement unit.

5. The robot system according to claim 1 , further comprising a selection unit configured to select, during position and orientation correction of the first target object, a movement path of the first target object from among a plurality of predetermined paths based on a result of the first position and orientation measurement unit.

6. A robot system control apparatus comprising:

at least one processor communicatively-coupled to a memory;

an arm capable of controlling a position and orientation of an arm tip portion;

a holding unit, which is attached to the arm tip portion and which comprises a holding mechanism configured to hold a target object, capable of controlling a relative position and orientation of a first target object held by the holding mechanism to the arm tip portion;

a first position and orientation measurement unit configured to measure the relative position and orientation of the first target object held by the holding unit to the arm tip portion;

a second position and orientation measurement unit configured to measure a second position and orientation of a second target object to be fitted or assembled with the first target object; and

a correction unit configured to correct a position and orientation of the holding unit by controlling the holding unit, without changing controlling amount of the arm based on a result of both the first position and orientation measurement unit and the second position and orientation measurement unit while the arm is still moving after the holding unit holds the first target object.

7. A method for controlling a robot system comprising:

at least one processor communicatively-coupled to a memory;

an arm capable of controlling a position and orientation of an arm tip portion;

a holding unit, which is attached to the arm tip portion and which comprises a holding mechanism configured to hold a target object, capable of controlling a relative position and orientation of a first target object held by the holding mechanism to the arm tip portion;

a first position and orientation measurement unit configured to measure the relative position and orientation of the first target object held by the holding unit to the arm tip portion;

a second position and orientation measurement unit configured to measure a second position and orientation of a second target object to be fitted or assembled with the first target object; and

a correction unit configured to correct a position and orientation of the holding unit by controlling the holding unit, without changing controlling amount of the arm based on a result of both the first position and orientation measurement unit and the second position and orientation measurement unit while the arm is still moving after the holding unit holds the first target object.

8. A non-transitory computer-readable medium storing a computer-executable process for controlling a robot system comprising:

at least one processor communicatively-coupled to a memory;

an arm capable of controlling a position and orientation of an arm tip portion;

a holding unit, which is attached to the arm tip portion and which comprises a holding mechanism configured to hold a target object, capable of controlling a relative position and orientation of a first target object held by the holding mechanism to the arm tip portion;

a first position and orientation measurement unit configured to measure the relative position and orientation of the first target object held by the holding unit to the arm tip portion;

a second position and orientation measurement unit configured to measure a second position and orientation of a second target object to be fitted or assembled with the first target object; and

a correction unit configured to correct a position and orientation of the holding unit by controlling the holding unit, without changing controlling amount of the arm based on a result of both the first position and orientation measurement unit and the second position and orientation measurement unit while the arm is still moving after the holding unit holds the first target object.

9. The apparatus according to claim 1 , wherein the correction unit corrects the position and orientation of the holding unit so that the first target object is fitted or assembled with the second target object.

10. The system according to claim 1 , wherein the holding unit is a robot hand.

11. A robot system comprising:

at least one processor communicatively-coupled to a memory;

an arm capable of controlling a position and orientation of an arm tip portion;

a hand, which is attached to the arm tip portion and which comprises a grasping mechanism configured to grasp an operation target, capable of controlling a relative position and orientation of the operation target grasped by the grasping mechanism to the arm tip portion;

a position and orientation measurement unit configured to measure the relative position and orientation of the operation target grasped by the hand to the arm tip portion while the arm tip portion is moving with grasping the operation target;

a correction unit configured to correct the position and orientation of the grasped operation target while the arm tip portion is moving with grasping the operation target; and

a second position and orientation measurement unit configured to, when performing a fitting or assembly operation for a grasped operation target on a second operation target, measure the position and orientation of the second operation target,

wherein the correction unit is configured to determine the predetermined relative position and orientation using both a result of the position and orientation measurement of the operation target performed by the position and orientation measurement unit, and a result of the position and orientation measurement of the second operation target performed by the second position and orientation measurement unit.

12. A robot system comprising:

at least one processor communicatively-coupled to a memory;

an arm capable of controlling a position and orientation of an arm tip portion;

a hand, which is attached to the arm tip portion and which comprises a grasping mechanism configured to grasp an operation target, capable of controlling a relative position and orientation of the operation target grasped by the grasping mechanism to the arm tip portion;

a position and orientation measurement unit configured to measure the relative position and orientation of the operation target grasped by the hand to the arm tip portion while the arm tip portion is moving with grasping the operation target;

a correction unit configured to correct the position and orientation of the grasped operation target while the arm tip portion is moving with grasping the operation target; and

a second position and orientation measurement unit configured to, when performing a fitting or assembly operation for a grasped operation target on a second operation target, measure the position and orientation of the second operation target,

wherein the correction unit is configured to select a movement path of the arm tip portion from among a plurality of predetermined paths using a result of position and orientation measurement of the grasped operation target and a result of position and orientation measurement of the second operation target performed by the second position and orientation measurement unit.

13. A robot system comprising:

at least one processor communicatively-coupled to a memory;

an arm capable of controlling a position and orientation of an arm tip portion;

a hand, which is attached to the arm tip portion and which comprises a grasping mechanism configured to grasp an operation target, capable of controlling a relative position and orientation of the operation target grasped by the grasping mechanism to the arm tip portion;

a position and orientation measurement unit configured to measure the relative position and orientation of the operation target grasped by the hand to the arm tip portion while the arm tip portion is moving with grasping the operation target;

a correction unit configured to correct the position and orientation of the grasped operation target while the arm tip portion is moving with grasping the operation target;

a second position and orientation measurement unit configured to, when performing a fitting or assembly operation for the grasped operation target on a second operation target, measure the position and orientation of the second operation target,

wherein the correction unit is configured to, during position and orientation correction of the grasped operation target, select a movement path of the operation target from among a plurality of predetermined paths based on both a result of position and orientation measurement of the grasped operation target, and a result of position and orientation measurement of the second operation target performed by the second position and orientation measurement unit.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Mar 22, 2011
From: NORO, HIDEO
To: CANON KABUSHIKI KAISHA
Reel/Frame 025993/0689 →
Priority Claims (1)
JP 2009-291238 · Dec 22, 2009 · national
Continuity (1)
Related Publication 20110153076A1 · Jun 23, 2011