Title:
COORDINATE CALIBRATION METHOD FOR ROBOT WITH TERMINAL VISUAL SENSE
Document Type and Number:
Japanese Patent JPH01193902
Kind Code:
A
Abstract:
PURPOSE:To precisely and simply attain the calibration of a coordinate system by using a coordinate system calibration board where plural recognition patterns which can be identified are drawn on an outer periphery. CONSTITUTION:The coordinate system calibration board 4 where plural recognition patterns which can be identified on the outer periphery is placed on a prescribed work area where calibration is to be executed, and they are image- picked up by an image-pickup device 3. An image processor 10 calculates the positions of the recognition patterns in a visual coordinate system 12. Whenever a robot controller 9 gives a prescribed move quantity and moves the terminal part of the robot 1, the recognition pattern is image-picked up, and the same recognition patterns are visually recognized, whereby the positions are calculated. Thus, both coordinate systems can be made to correspond from the move quantity in the robot coordinate system 11 given to the terminal part of the robot 1 and the relative move quantity of the recognition pattern in the visual coordinate system 12, and a calibration work can simple and precisely be executed.
Inventors:
FURUICHI HIROO
MIYAGAWA AKIRA
KONO MICHINAGA
MIYAGAWA AKIRA
KONO MICHINAGA
Application Number:
JP1703288A
Publication Date:
August 03, 1989
Filing Date:
January 29, 1988
Export Citation:
Assignee:
HITACHI LTD
International Classes:
B25J19/04; G05B19/18; G05B19/404; G05B19/4155; G06T7/00; G06T7/60; (IPC1-7): B25J19/04; G05B19/18; G06F15/70
Attorney, Agent or Firm:
Katsuo Ogawa (1 person outside)
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