Title:
ROBOT LOCATION CALIBRATION SYSTEM, ROBOT LOCATION CALIBRATION METHOD, AND ROBOT LOCATION CALIBRATION PROGRAM
Document Type and Number:
WIPO Patent Application WO/2022/085217
Kind Code:
A1
Abstract:
In the present invention, two measurement subjects (51, 52) are provided to either an arm (11) of a robot (3) or a work space (2), and a sensor (45) is provided to the other thereof. A controller (30), by driving the arm (11), causes the sensor (45) to move relatively with respect to the two measurement subjects (51, 52), and acquires two locations (xr1, xr2) of the arm (11) at the time when the sensor (45) measures each of the two measurement subjects (51, 52). The controller (30) measures an angular offset amount (ΔΘ) within a reference surface (RS) of the robot (3) on the basis of a measured distance between the two measurement subjects (51, 52) obtained from the two acquired locations (xr1, xr2), and the actual distance between the two measurement subjects (51, 52).
Inventors:
KIYOTA YUSUKE (JP)
MORI YUICHIRO (JP)
NISHIBORI SHIGEKI (JP)
MORI YUICHIRO (JP)
NISHIBORI SHIGEKI (JP)
Application Number:
PCT/JP2021/007964
Publication Date:
April 28, 2022
Filing Date:
March 02, 2021
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
B25J9/10
Domestic Patent References:
| WO2009145082A1 | 2009-12-03 |
Foreign References:
| JP2015153809A | 2015-08-24 | |||
| CN108000522A | 2018-05-08 | |||
| JP2005260176A | 2005-09-22 | |||
| US20200254625A1 | 2020-08-13 |
Attorney, Agent or Firm:
MOTOYAMA, Masafumi (JP)
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