Robot system
A robot system for performing drive control of a robot arm with respect to a target object according to information obtained by a camera, including a robot having a working section, a camera mounted in the vicinity of the working section, and a control device for controlling the driving of the robot while confirming the target object based on image data of the camera, is provided. The control device performs image-capture control, which executes image-capturing of the target object with the camera a plurality of times when moving the working section with respect to the target object according to a predetermined trajectory, and focus control, in which predetermined images within a plurality of images captured by image-capture control are in focus.
1. A robot system comprising:
a robot having a working section for performing an operation on a target object;
a camera provided to the robot in a vicinity of the working section, and
a control device that performs drive control of the robot while confirming the target object based on image data from the camera, wherein
when moving the working section with respect to the target object according to a predetermined trajectory, the control device captures a plurality of images of the target object with the camera a plurality of times at fixed time intervals, and focuses predetermined images within the plurality of images such that a lens of the camera is focused on the target object when the camera is at specified positions along the predetermined trajectory, and
the control device performs an advance focusing of the lens in which, at a predetermined position of the camera along the predetermined trajectory, the lens of the camera is set for a focus position along the predetermined trajectory that is different than the predetermined position of the camera along the predetermined trajectory so that when the camera is at the focus position, an image among the plurality of images is captured at which the target object is focused, the focus position being ahead of the predetermined position in a movement direction of the working section along the predetermined trajectory.
2. The robot system according to claim 1 , wherein the robot has a multi jointed robot arm, a hand mechanism is provided as the working section at a tip portion of the robot arm, and the camera is provided thereto.
3. The robot system according to claim 2 , wherein pivoting axes of the multi-jointed robot arm are perpendicular to a moving direction of the hand mechanism.