Title:
POSITION DETECTION METHOD, CONTROL DEVICE, AND ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2021/117907
Kind Code:
A1
Abstract:
This position detection method comprises: (a) causing an arm (120A, 120B) of a robot (100) to position a contact section (140) of the arm horizontally to the side of a first detected section, among at least two detected sections, of an object, (b) causing the arm to bring the contact section into contact with at least three sites on the surface of the first detected section, (c) detecting the position of the contact section relative to the robot when the contact section is in contact with each of the at least three sites, (d) detecting the position of the first detected section relative to the robot using the at least three locations, (e) performing the same processing as in (a) through (d) for another of the detected sections, and (f) detecting the position of the robot relative to the object using the positions of the at least two detected sections relative to the robot and the positions of the at least two detected sections relative to the object.
Inventors:
MIYAZAKI TOSHIHIKO
TAKEBAYASHI JUN
YODA AKIO
TSUJIMORI TOSHIYUKI
OUCHI SATOSHI
IWASAKI YUKIO
TAKEBAYASHI JUN
YODA AKIO
TSUJIMORI TOSHIYUKI
OUCHI SATOSHI
IWASAKI YUKIO
Application Number:
PCT/JP2020/046568
Publication Date:
June 17, 2021
Filing Date:
December 14, 2020
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J9/10
Foreign References:
| JP2015155126A | 2015-08-27 | |||
| JP2003181782A | 2003-07-02 | |||
| JP2018083284A | 2018-05-31 | |||
| JP2006503721A | 2006-02-02 |
Other References:
See also references of EP 4074466A4
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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