Title:
METHOD FOR CALIBRATING THREE DIMENSIONAL POSITION OF SELF SUSTAINING TRAVELING ROBOT
Document Type and Number:
Japanese Patent JP3466340
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To correct the error of the traveling and stopping position of a self sustaining robot in a three dimensional manner.
SOLUTION: A mobile robot is provided with a self sustaining traveling part and an arm part of a teaching regenerative type robot mounted on the traveling part, and when the robot travels toward the target point by the traveling part and is stopped at the target point, a calibration mark 6 fitted to the prescribed position at the target point is photographed by a visual sensor provided on the arm part, and the error of the stopping position from the teaching position at the target point is calibrated in the three dimensional manner based on the photographed image. Each operation shaft of the arm part is driven so that the image of the calibration mark is photographed by the prescribed shape and size at the prescribed position of the photographed image, a calibration amount of the three dimensional location and position from a drive amount of each operation shaft is obtained, and the teaching data of the arm part are calibrated in the three dimensional manner based on the calibration amount.
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Inventors:
Shigeru Yamamoto
Hiroshi Nakai
Masaki Ohnishi
Hiroshi Nakai
Masaki Ohnishi
Application Number:
JP22997495A
Publication Date:
November 10, 2003
Filing Date:
September 07, 1995
Export Citation:
Assignee:
Assist Shinko Co., Ltd.
International Classes:
B25J9/22; B25J19/04; G05B19/18; (IPC1-7): B25J9/22; B25J19/04; G05B19/18
Domestic Patent References:
| JP580842A | ||||
| JP62191904A | ||||
| JP79370A | ||||
| JP7146121A | ||||
| JP6258028A |
Attorney, Agent or Firm:
Takeo Honjo (1 person outside)