Title:
ROBOT AND ORIGIN POSITION ADJUSTMENT METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2020/045277
Kind Code:
A1
Abstract:
This robot comprises: a robot arm having a plurality of links, which are connected together via joints; an end effector, which is connected to a distal end of the robot arm via a wrist joint; an imaging device that is attached to the end effector or to the robot arm such that the end effector and the entire robot arm in their origin attitudes are included in an imaging range; and a controller for controlling the operation of the robot arm and that of the imaging device. The controller, taking the rotational positions of the joints and of the wrist joint to be the origin positions thereof, causes the imaging device to capture an image, acquires the captured image, and then compares an origin attitude reference image and the captured image; the controller thereby finds a deviation in the current attitudes of the end effector and the robot arm from their origin attitudes, and determines whether an origin position offset has occurred on the basis of this deviation.
Inventors:
YOSHIDA TETSUYA
NAKAHARA HAJIME
ZENG MING
NAKAHARA HAJIME
ZENG MING
Application Number:
PCT/JP2019/033025
Publication Date:
March 05, 2020
Filing Date:
August 23, 2019
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
KAWASAKI ROBOTICS USA INC (US)
KAWASAKI ROBOTICS USA INC (US)
International Classes:
B25J9/10; B25J13/08
Foreign References:
| JP2018083270A | 2018-05-31 | |||
| JP2018056256A | 2018-04-05 | |||
| JP2012223871A | 2012-11-15 | |||
| JP2018069425A | 2018-05-10 | |||
| CA3043463A1 | 2018-05-31 |
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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