Title:
COORDINATE SYSTEM SETTING METHOD USING VISUAL SENSOR
Document Type and Number:
Japanese Patent JP3394322
Kind Code:
B2
Abstract:
PURPOSE: To set a coordinate system for operation which does not require skillfulness with stable precision by observing a coordinate system representing means, which visually represents the coordinate system, through the visual sensor which has a camera means supported on a robot, etc.
CONSTITUTION: An operator operates a robot controller to move the robot 1 to a 1st proper position A1 where a jig 3 is easily put in the visual field of the camera 2, and data on a matrix [A1] representing A1 are transferred from the controller 1 and stored. Then an observation is made at the position A1 through the camera 2 to store the image of a dot group 4 in a frame memory, and data of [D1] are found from pixel values are the respective dots in the dot group 4 and jig data. Similarly, the robot 1 is moved to a 2nd proper position A2 and data on a matrix [A2] are transferred and stored. An observation is made at the position A2 through the camera 2 and an image of a dot group 4 is inputted to find data of [D2]. Those data are used to calculate a matrix [C], thereby completing the setting of the coordinate system.
Inventors:
Atsushi Watanabe
Fumikazu Warashina
Fumikazu Warashina
Application Number:
JP12800594A
Publication Date:
April 07, 2003
Filing Date:
May 19, 1994
Export Citation:
Assignee:
FANUC CORPORATION
International Classes:
B25J9/10; B25J9/16; G05B19/18; G05B19/19; G05B19/404; G05B19/42; G05D3/12; (IPC1-7): G05B19/19; B25J9/10; G05B19/42; G05D3/12
Domestic Patent References:
| JP62200403A | ||||
| JP299802A | ||||
| JP7152412A |
Attorney, Agent or Firm:
Matsumoto Takemoto (4 outside)
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