JP2013013987A5 - Robot system and component manufacturing method - Google Patents
Robot system and component manufacturing method Download PDFInfo
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- JP2013013987A5 JP2013013987A5 JP2011149693A JP2011149693A JP2013013987A5 JP 2013013987 A5 JP2013013987 A5 JP 2013013987A5 JP 2011149693 A JP2011149693 A JP 2011149693A JP 2011149693 A JP2011149693 A JP 2011149693A JP 2013013987 A5 JP2013013987 A5 JP 2013013987A5
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- assembly member
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Description
本発明は、力覚センサを用いて、組み付け部材を被組み付け部材に組み付けるときの組み付け反力を検知し、ロボットアームの各関節の動作を制御するロボットシステム、及び部品の製造方法に関するものである。 The present invention relates to a robot system that detects an assembly reaction force when an assembly member is assembled to an assembly member using a force sensor , and controls the operation of each joint of a robot arm , and a component manufacturing method. .
そこで、本発明は、ハンドの交換を行わずに精密な組み付け作業が可能となるロボットシステム、及び部品の製造方法を提供することを目的とするものである。 SUMMARY OF THE INVENTION An object of the present invention is to provide a robot system and a component manufacturing method that enable precise assembly work without replacing hands.
Claims (5)
前記手首部に設けられ、前記ハンドの変位によって基準点に生じるモーメントを検出する力覚センサと、
カメラと、を備え、
前記制御手段は、前記ハンドが把持している前記組み付け部材を撮像した画像データを前記カメラから取得し、前記画像データから前記ハンドが把持している前記組み付け部材の把持位置を割り出して、前記力覚センサの基準点と前記把持位置との距離を求め、前記基準点と前記把持位置との距離及び前記力覚センサにより検出されたモーメントから、前記ハンドに作用する反力を求めることを特徴とするロボットシステム。 A robot arm, a hand provided at the tip of the robot arm via a wrist, and gripping an assembly member; and a control means for controlling the operation of the robot arm based on a reaction force acting on the hand. In the robot system
A force sensor provided at the wrist for detecting a moment generated at a reference point due to displacement of the hand;
And a camera,
The control means acquires image data obtained by imaging the assembly member held by the hand from the camera, calculates a holding position of the assembly member held by the hand from the image data, and calculates the force. A distance between a reference point of a sense sensor and the grip position is obtained, and a reaction force acting on the hand is obtained from a distance between the reference point and the grip position and a moment detected by the force sensor. Robot system to do.
前記カメラは、前記ハンドに把持された前記組み付け部材を撮像すると同時に、前記測定点を撮像し、
前記制御手段は、前記画像データから、前記測定点と前記把持位置との距離を求め、前記基準点と前記測定点との距離、及び前記測定点と前記把持位置との距離に基づき、前記基準点と前記把持位置との距離を求めることを特徴とする請求項１又は２に記載のロボットシステム。 A measurement point with a known distance from the reference point is provided on any of the robot arm, the hand, and the force sensor,
The camera images the measurement point simultaneously with imaging the assembly member held by the hand,
The control means obtains a distance between the measurement point and the gripping position from the image data, and based on the distance between the reference point and the measurement point and the distance between the measurement point and the gripping position, The robot system according to claim 1 or 2, wherein a distance between a point and the gripping position is obtained.
前記カメラは、前記ハンドに把持された前記組み付け部材を撮像すると同時に、前記測定点を撮像し、
前記制御手段は、前記画像データから、前記測定点と前記把持位置との距離を求めることで、前記基準点と前記把持位置との距離を求めることを特徴とする請求項１又は２に記載のロボットシステム。 The force sensor is provided with a measurement point at a position corresponding to the reference point,
The camera images the measurement point simultaneously with imaging the assembly member held by the hand,
The said control means calculates | requires the distance of the said reference point and the said holding | grip position by calculating | requiring the distance of the said measurement point and the said holding | grip position from the said image data. Robot system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011149693A JP5787646B2 (en) | 2011-07-06 | 2011-07-06 | Robot system and component manufacturing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011149693A JP5787646B2 (en) | 2011-07-06 | 2011-07-06 | Robot system and component manufacturing method |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2013013987A JP2013013987A (en) | 2013-01-24 |
| JP2013013987A5 true JP2013013987A5 (en) | 2014-08-14 |
| JP5787646B2 JP5787646B2 (en) | 2015-09-30 |
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ID=47687174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2011149693A Expired - Fee Related JP5787646B2 (en) | 2011-07-06 | 2011-07-06 | Robot system and component manufacturing method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP5787646B2 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016187844A (en) | 2015-03-30 | 2016-11-04 | セイコーエプソン株式会社 | Robot, robot control device and robot system |
| KR101987824B1 (en) * | 2017-06-22 | 2019-06-13 | 아엠아이테크 주식회사 | Dual Arm Robot System |
| KR101987823B1 (en) * | 2017-06-22 | 2019-06-13 | 아엠아이테크 주식회사 | Dual Arm Robot System |
| JP7187765B2 (en) * | 2017-07-24 | 2022-12-13 | セイコーエプソン株式会社 | robot controller |
| JP2019173393A (en) * | 2018-03-28 | 2019-10-10 | 前田建設工業株式会社 | Steel support work building method and building system |
| JP7351667B2 (en) * | 2019-08-01 | 2023-09-27 | ファナック株式会社 | Robot control system, control method, computer program, and control device that performs multi-point mating |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3217351B2 (en) * | 1990-06-07 | 2001-10-09 | 株式会社東芝 | Force control device and robot using the same |
| JP3626303B2 (en) * | 1996-12-18 | 2005-03-09 | 本田技研工業株式会社 | Foot ground contact position detector for legged mobile robot |
| JP5236596B2 (en) * | 2009-08-19 | 2013-07-17 | ファナック株式会社 | Processing robot system |
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2011
- 2011-07-06 JP JP2011149693A patent/JP5787646B2/en not_active Expired - Fee Related
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