Title:
ROBOT ARM APPARATUS, CALIBRATION METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2015/129473
Kind Code:
A1
Abstract:
[Problem] To make it possible to carry out calibration of an internal model more efficiently and more accurately. [Solution] Provided is a robot arm apparatus equipped with an arm part that is composed of a plurality of links coupled together by joints, and that is designed such that it is possible to connect an imaging unit. An internal model which includes at least geometric information of the arm part and focal position information of the imaging unit is updated using internal model information acquired while the imaging unit is facing a reference point in real space.
Inventors:
KAMIKAWA YASUHISA (JP)
KASAI TAKARA (JP)
KURODA YOHEI (JP)
KOKUBO WATARU (JP)
TSUBOI TOSHIMITSU (JP)
FUKUSHIMA TETSUHARU (JP)
MATSUDA YASUHIRO (JP)
MIYAMOTO ATSUSHI (JP)
KASAI TAKARA (JP)
KURODA YOHEI (JP)
KOKUBO WATARU (JP)
TSUBOI TOSHIMITSU (JP)
FUKUSHIMA TETSUHARU (JP)
MATSUDA YASUHIRO (JP)
MIYAMOTO ATSUSHI (JP)
Application Number:
PCT/JP2015/053874
Publication Date:
September 03, 2015
Filing Date:
February 12, 2015
Export Citation:
Assignee:
SONY CORP (JP)
International Classes:
B25J13/00; A61B19/00; B25J13/08; H04N5/225
Domestic Patent References:
| WO2009110242A1 | 2009-09-11 |
Foreign References:
| JP2012091280A | 2012-05-17 | |||
| JPH1063317A | 1998-03-06 | |||
| JPH06187021A | 1994-07-08 | |||
| JP2012081568A | 2012-04-26 | |||
| JP2009028851A | 2009-02-12 | |||
| JPS62214304A | 1987-09-21 | |||
| JP2012196486A | 2012-10-18 |
Other References:
See also references of EP 3112096A4
Attorney, Agent or Firm:
KAMEYA, Yoshiaki et al. (JP)
Yoshiaki Kameya (JP)
Yoshiaki Kameya (JP)
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