Robot controlling method for tracking a moving object using a visual sensor
US5727132A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Aug 24, 1995 |
| Grant date | Mar 10, 1998 |
| Priority date | — |
| Expiry date | Aug 24, 2015 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39102
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A robot visual-tracking method in which the precision of a tracking movement of a robot is improved using a visual sensor. A count value N (0) of a pulse coder is stored when a sensor detects a workpiece. Then, arrival of the workpiece at a taught photographing position is detected based on an incremental quantity from the count value N (0) of the pulse coder, and the workpiece is photographed by a camera. A deviation is obtained between positions of two points Wa and Wb on the workpiece and the reference positions thereof. When the workpiece arrives at a tracking start position L1, a tracking coordinate system .SIGMA.tr starts to move and tracking operations of the robot are started. In the tracking operation, the robot position is corrected to compensate the detected deviation amount. The robot approaches the workpiece W to meet with it and grips the workpiece W by a hand when the workpiece W reaches a position Q0. Then, when the workpiece W arrives at a tracking termination position L3, the tracking operation is terminated. The robot moves to a teaching point Q2 according to a normal playback operation, where the hand is opened to release the workpiece W.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.