Title:
ROBOT SYSTEM, CONTROL DEVICE, DIAGNOSIS METHOD, AND DIAGNOSIS PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/012894
Kind Code:
A1
Abstract:
Provided is a robot system (1) comprising: a robot (10) provided with one or more movable elements that can respectively rotate about one or more rotation axes; a control device (30) that controls the robot; and a visual sensor (20) attached to any of the movable elements of the robot (10), wherein the control device (30) uses any of the movable elements (18) of the robot (10) as a target element, compares the position of a predetermined target (T) in a first image acquired by the visual sensor (20) at an arbitrary first orientation of the robot (10) at which the target (T) fixed at a predetermined position is disposed inside the field of view of the visual sensor (20), and the position of the predetermined target (T) in a second image acquired by the visual sensor (20) at an arbitrary second orientation at which the target element is rotated about the rotation axis (J6) of the target element with respect to the first orientation, and determines that the visual sensor (20) is attached to the target element when the positions of the target (T) in the first image and the second image are different.
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Inventors:
KOKUBO KYOUHEI (JP)
Application Number:
PCT/JP2021/028761
Publication Date:
February 09, 2023
Filing Date:
August 03, 2021
Export Citation:
Assignee:
FANUC CORP (JP)
International Classes:
B25J19/04; B25J13/08
Foreign References:
| JPS642891A | 1989-01-06 | |||
| JP2005131761A | 2005-05-26 | |||
| JPH01193902A | 1989-08-03 | |||
| JP2015160264A | 2015-09-07 | |||
| JPH04313106A | 1992-11-05 | |||
| JP2005138223A | 2005-06-02 | |||
| JP2005149299A | 2005-06-09 | |||
| JP2016221615A | 2016-12-28 |
Attorney, Agent or Firm:
UEDA, Kunio et al. (JP)
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