Title:
ROBOT WITH MECHANISM FOR CHANGING END EFFECTOR ATTITUDE
Document Type and Number:
Japanese Patent JP2016203282
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide an end effector controller and a robot that are capable of acquiring attitude information of an end effector when drive of the robot or the end effector is stopped, without using an expensive absolute encoder.SOLUTION: There is provided is an end effector drive device comprising: driving means for driving an end effector within a three-dimensional space; attitude changing means of the end effector; at least one imaging means disposed for imaging a predetermined range including a movable range of the end effector, when drive of the end effector is stopped; and attitude information acquiring means for acquiring attitude information of the attitude changing means on a two-dimensional plane, on the basis of a two-dimensional image containing a part of an image of the attitude changing means obtained by the imaging means.SELECTED DRAWING: Figure 1
Inventors:
FUJIMOTO KAZUKI
Application Number:
JP2015085207A
Publication Date:
December 08, 2016
Filing Date:
April 17, 2015
Export Citation:
Assignee:
CANON DENSHI KK
International Classes:
B25J11/00