Title:
ROBOT, CONTROL DEVICE FOR ROBOT, AND POSITION TEACHING METHOD FOR ROBOT
Document Type and Number:
WIPO Patent Application WO/2018/062153
Kind Code:
A1
Abstract:
This robot control device is provided with: an image data acquisition unit which acquires image data, imaged by a camera, of a teaching substrate arranged in the target position of a substrate that is to be taught, and of the substrate placement area of a hand; a virtual substrate information generating unit which generates information about a virtual substrate virtually arranged on the substrate placement area in the image data; a distance information calculation unit which calculates information about the distance from the substrate placement area to the teaching substrate on the basis of the image data; an operation control unit which, on the basis of the information about the distance from the substrate placement area to the teaching substrate, controls operation of a robot arm such that the virtual substrate matches the teaching substrate; and a storage unit which stores, as teaching data, the position of the hand when matching is achieved.
Inventors:
GOTO HIROHIKO
YOSHIDA TETSUYA
TAN HARUHIKO
FUJIMORI KAZUO
YAMASHITA KATSUHIRO
SUMITOMO MASAHIKO
YOSHIDA TETSUYA
TAN HARUHIKO
FUJIMORI KAZUO
YAMASHITA KATSUHIRO
SUMITOMO MASAHIKO
Application Number:
PCT/JP2017/034693
Publication Date:
April 05, 2018
Filing Date:
September 26, 2017
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
H01L21/677; B25J9/22; B25J13/08; G05B19/42
Foreign References:
| JPH05343495A | 1993-12-24 | |||
| JP2003086658A | 2003-03-20 | |||
| JP2014128855A | 2014-07-10 | |||
| JP2005019963A | 2005-01-20 | |||
| JP2011508453A | 2011-03-10 |
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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