Title:
ROBOT SYSTEM, ROBOT CONTROL METHOD, ROBOT CONTROLLER, AND PROGRAM
Document Type and Number:
Japanese Patent JP2020121373
Kind Code:
A
Abstract:
To follow a change in relative position between an end effector of a robot and a workpiece and bring the end effector close to the workpiece more accurately at a high speed even when the relative position changes in delay time until the end effector of the robot reaches a target position after acquired from an image.SOLUTION: A robot system 1 includes: a robot 10 which performs a prescribed work on a workpiece W by an end effector 7; a vision sensor 3 which captures the workpiece W; a target position generation section 151 which generates a target position indicating a position where the end effector 7 should move on the basis of the captured image at a generation period; an estimation section 152 which estimates change amount of a relative position between the end effector 7 and the workpiece W at an estimation period on the basis of at least relative position information related to the relative position; and a control section 153 which controls the robot 10 on the basis of the generated target position and the estimated change amount.SELECTED DRAWING: Figure 2
Inventors:
KUMAGAI HIROSHI
NAKAMURA TAMIO
NAKAMURA TAMIO
Application Number:
JP2019014686A
Publication Date:
August 13, 2020
Filing Date:
January 30, 2019
Export Citation:
Assignee:
YASKAWA ELECTRIC CORP
International Classes:
B25J13/08
Domestic Patent References:
| JP2012245568A | 2012-12-13 |
Attorney, Agent or Firm:
Felicite Patent Business Corporation