Robot system
Provided is a robot system with which it is possible to easily set an error parameter. The robot system according to an embodiment of the present disclosure comprises a robot, a measurement device attached to an end of the robot, a target mark fixed to a work space for the robot, and a robot control device for controlling the robot. The robot control device has: a parameter storage unit for storing a plurality of error parameters used to calculate the position of a reference point for the end of the robot; a command value generation unit for generating a command value indicating a required position or speed of a drive shaft of the robot, upon taking an error parameter into account; a position information acquisition unit for acquiring position information for the reference point on the basis of the relative position of the target mark measured by the measurement device relative to the measurement device and coordinate information for the target mark in a user coordinate system; and a parameter correction unit for correcting an error parameter on the basis of the command value and the position information.
1. A robot system comprising:
a robot having a plurality of drive axes;
a measurement device attached to a distal end of the robot;
a target mark fixed in a workspace of the robot; and
a robot controller configured to control the robot,
the robot controller including:
a parameter storage unit configured to store therein a plurality of error parameters to be used to calculate a position of a reference point at the distal end of the robot;
a command value calculation unit configured to calculate command values for giving the robot a desired position or speed of each of the drive axes by taking into account the error parameters;
a position information acquisition unit configured to acquire position information of the reference point based on a relative position of the target mark to the measurement device measured by the measurement device and a coordinate position of the target mark in a user coordinate system for specifying motions of the robot; and
a parameter correction unit configured to correct for the error parameters based on the command values and the position information;
wherein the robot controller further includes:
a sensitivity calculation unit configured to calculate, for each of the error parameters, a sensitivity value that represents magnitude of a change in a calculatory position of the reference point with respect to a change in the error parameter; and
a target selection unit configured to select, based on the sensitivity values, correction target error parameters from among the plurality of error parameters, and
wherein the parameter correction unit configured to correct for the correction target error parameters based on the command values for the robot and the position information, on an assumption that the error parameters other than the correction target error parameters have no impact on the position of the reference point.
2. The robot system according to claim 1 , comprising a plurality of the target marks that are distributed.
3. The robot system according to claim 1 , wherein
the target mark has a shape or pattern that allows the measurement device to recognize an orientation of the target mark.
4. The robot system according to claim 1 , wherein
the robot controller further includes a program creation unit configured to create a plurality of motion programs for specifying postures of the robot to allow the measurement device to measure the target mark from different directions.
5. The robot system according to claim 1 , wherein
the robot controller further includes a weight determination unit configured to determine weights of the sensitivity values depending on what has been done in a maintenance operation performed on the robot.
6. The robot system according to claim 1 , wherein
the robot controller further includes an evaluation unit configured to determine whether or not an offset between the position of the reference point calculated using the error parameters and a position of the reference point indicated by the position information is within a predetermined range.