KR102333281B1 - Robot arm for teaching location where tools to move and operation method thereof - Google Patents

Abstract

The present disclosure relates to a robot arm and an operating method of the robot arm for setting a tool attached to the robot arm to be positioned at a target position. acquiring an image including the first identification area included in the first teaching jig at the target position using When the center of the image and the center of the first identification area coincide, storing the position of the robot hand as the first position, including the second identification area included in the first teaching jig at the target position by using a photographing unit The steps of acquiring an image, moving the robot arm so that the center of the image acquired by the photographing unit and the center of the second identification area coincide, and when the center of the image and the center of the second identification area coincide, the position of the robot hand storing as a second position, determining a first vector based on the first position and the second position, and determining a target position by the gripper based on the first vector.

Description

The robot arm that teaches the position where the tool will move and the robot arm's operation method {ROBOT ARM FOR TEACHING LOCATION WHERE TOOLS TO MOVE AND OPERATION METHOD THEREOF}

The present disclosure relates to a robot arm and an operating method of the robot arm for setting a tool attached to the robot arm to be positioned at a target position.

As society became a division of labor through the Industrial Revolution, robots that handle difficult or dangerous tasks that humans cannot do instead have been used in various ways throughout the industry. In addition, robots that have been mainly used in industrial fields, such as welding robots, which have recently entered, are coming closer and closer to people's real life in various fields, such as cleaning robots, guide robots, and medical robots.

An industrial robot is a general-purpose computer-controlled manipulator composed of links continuously connected with joints that perform rotational or linear motion. It should be able to accurately position it in any position desired by the user.

In this regard, in order to accurately operate a tool that is attached to the robot arm and performs various functions, it is necessary to measure the exact position of the tool with respect to the robot arm as well as the position of the robot arm. Therefore, various methods for measuring the position of the tool with respect to the robot arm are being studied.

In a method of operating a robot arm according to the present disclosure, in a state in which the robot hand is rotated at a reference rotation angle, the control unit acquires an image including the first identification area included in the first teaching jig at the target position by using the photographing unit. Step, moving the robot arm so that the center of the image acquired by the photographing unit coincides with the center of the first identification area, when the center of the image and the center of the first identification area coincide, the position of the robot hand as the first position The steps of storing, acquiring an image including the second identification area included in the first teaching jig at the target position by using the photographing unit, and the robot so that the center of the image acquired by the photographing unit and the center of the second identification area coincide Moving the arm, if the center of the image and the center of the second identification area coincide, storing the position of the robot hand as a second position, a first vector or a first position based on the first position and the second position determining at least one of the center points, and determining a target posture of the robot arm when the gripper is positioned at the target position based on the first vector.

The operation method of the robot arm according to the present disclosure includes controlling the second teaching jig coupled to the gripper to be put down at an arbitrary position, and in a state in which the robot hand rotates at a reference rotation angle, the photographing unit uses the second teaching jig Moving the robot arm so as to obtain an image of the third identification region, the control unit acquiring an image including the third identification region included in the second teaching jig by using a photographing unit; Moving the robot arm so that the center and the center of the third identification area coincide, when the center of the image and the center of the third identification area coincide, storing the position of the robot hand as the third position, using a photographing unit acquiring an image including the fourth identification region included in the second teaching jig; moving the robot arm so that the center of the image acquired by the photographing unit coincides with the center of the fourth identification region; the center of the image and the fourth When the centers of the identification areas coincide, storing the position of the robot hand as a fourth position, and determining at least one of a second vector or a second center point based on the third position and the fourth position. .

The operation method of the robot arm according to the present disclosure includes the steps of, when the direction of the first vector does not match the direction of the second vector, moving the robot arm to control the gripper to hold the second teaching jig; Controlling the second teaching jig coupled to the gripper to put down at the corrected position after rotating the robot hand around the rotation axis to match the 1 vector, and modifying based on the second teaching jig at the corrected position and obtaining at least one of the modified second vector and the modified second center point.

The step of determining the target posture of the operating method of the robot arm according to the present disclosure includes determining the current rotation angle of the robot hand as the target rotation angle of the target posture when the direction of the first vector coincides with the direction of the second vector. step; and determining a target position of the target posture based on a difference between the coordinates of the first central point and the coordinates of the second central point.

The operation method of the robot arm according to the present disclosure moves the robot arm so that the photographing unit acquires an image of the third identification area of the second teaching jig at an arbitrary position while the robot hand is rotated at a first rotation angle. step, acquiring an image including the third identification area included in the second teaching jig by using the photographing unit, the position of the robot hand when the center of the image acquired by the photographing unit and the center of the third identification area coincide to the fifth position, moving the robot arm so that the photographing unit acquires the image of the third identification area of the second teaching jig while the robot hand is rotated at the second rotation angle, using the photographing unit to obtain an image including the third identification area included in the second teaching jig; acquiring the position of the robot hand as the sixth position when the center of the image acquired by the photographing unit coincides with the center of the third identification area step, moving the robot arm so that the photographing unit can acquire an image of the third identification area of the second teaching jig in a state where the robot hand is rotated at the third rotation angle, using the photographing unit to attach the second teaching jig Obtaining an image including the included third identification region, acquiring the position of the robot hand as the seventh position when the center of the image acquired by the photographing unit coincides with the center of the third identification region, and a fifth and obtaining an offset of the position of the photographing unit with respect to the rotation axis based on the position to the seventh position.

The method of operating a robot arm according to the present disclosure includes the steps of placing a second teaching jig coupled to a gripper at an arbitrary position, and in a state in which the robot hand rotates at a first rotation angle, the photographing unit performs the third teaching of the second teaching jig. Moving the robot arm so as to obtain an image of the identification area, acquiring an image including the third identification area included in the second teaching jig using the photographing unit, the center of the image acquired by the photographing unit and the third Acquiring the position of the robot hand as a fifth position when the centers of the identification areas coincide with each other. In a state in which the robot hand is rotated at a second rotation angle, the photographing unit acquires an image of the third identification area of the second teaching jig moving the robot arm so as to be able to do so, acquiring an image including the third identification area included in the second teaching jig by using the photographing unit, and the center of the image acquired by the photographing unit coincides with the center of the third identification area acquiring the position of the robot hand as the sixth position in the case of The steps of moving, acquiring an image including the third identification area included in the second teaching jig by using the photographing unit, and the robot hand when the center of the image acquired by the photographing unit and the center of the third identification area coincide acquiring a position as a seventh position; acquiring an offset of the position of the first protrusion included in the gripper with respect to the rotation axis based on the fifth to seventh positions; In the state, moving the robot arm so that the photographing unit acquires an image of the fourth identification area of the second teaching jig, using the photographing unit to obtain an image including the fourth identification area included in the second teaching jig Step, acquiring the position of the robot hand as the eighth position when the center of the image acquired by the photographing unit coincides with the center of the fourth identification area; 2 In order to obtain the image of the fourth identification area of the teaching jig, the Moving the bot arm, acquiring an image including the fourth identification area included in the second teaching jig by using the photographing unit, and the robot when the center of the image acquired by the photographing unit matches the center of the fourth identification area acquiring the position of the hand to the ninth position, moving the robot arm so that the photographing unit acquires an image of the fourth identification area of the second teaching jig while the robot hand is rotated at a third rotation angle; Acquiring an image including the fourth identification area included in the second teaching jig by using the photographing unit, and determining the position of the robot hand when the center of the image acquired by the photographing unit coincides with the center of the fourth identification area acquiring the position, and acquiring an offset of the position of the second protrusion included in the gripper with respect to the rotation axis based on the eighth position to the tenth position.

In the method of operating a robot arm according to the present disclosure, when the first protrusion is inserted into the third identification area included in the second teaching jig and the second protrusion is inserted into the fourth identification area included in the second teaching jig , the gripper can pick up the second teaching jig and the sample placed on the second teaching jig.

The robot arm according to the present disclosure includes a robot hand and a control unit, the robot hand includes a gripper, a photographing unit, and a rotation shaft, and the control unit uses the photographing unit while the robot hand is rotated at a reference rotation angle. An image including the first identification area included in the first teaching jig at the target position is acquired, and the robot arm is moved so that the center of the image acquired by the photographing unit coincides with the center of the first identification area, and the center of the image and When the centers of the first identification areas coincide, the position of the robot hand is stored as the first position, and an image including the second identification area included in the first teaching jig at the target position is obtained using the photographing unit, and photographed The robot arm is moved so that the center of the additionally acquired image and the center of the second identification area coincide, and when the center of the image and the center of the second identification area coincide, the position of the robot hand is stored as the second position, and the first A first vector is determined based on the position and the second position, and a target posture of the robot arm when the gripper is positioned at the target position is determined based on the first vector.

In addition, a program for implementing the method of operating the robot arm as described above may be recorded in a computer-readable recording medium.

1 is a view showing the configuration of an apparatus for inspecting a robot arm according to an embodiment of the present disclosure.
2 is a diagram illustrating the configuration of a control unit of a robot arm according to an embodiment of the present disclosure.
3 is a view for explaining a robot hand according to an embodiment of the present disclosure.
4 is a view for explaining a jig according to an embodiment of the present disclosure.
5 is a flowchart illustrating a method of operating a robot arm according to an embodiment of the present disclosure.
6 is a diagram illustrating a process of measuring a target position according to an embodiment of the present disclosure.
7 is a diagram illustrating a process of measuring a target position according to an embodiment of the present disclosure.
8 illustrates an image output to an output unit according to an embodiment of the present disclosure.
9 illustrates an image output to an output unit according to an embodiment of the present disclosure.
10 illustrates an image output to an output unit according to an embodiment of the present disclosure.
11 is a diagram illustrating a process of measuring a target position according to an embodiment of the present disclosure.
12 is a diagram for describing a first vector according to an embodiment of the present disclosure.
13 is a flowchart illustrating a method of operating a robot arm according to an embodiment of the present disclosure.
14 is a view for explaining a process of matching the alignment state of the gripper and the jig according to an embodiment of the present disclosure.
15 is a view for explaining a process of matching the alignment state of the gripper and the jig according to an embodiment of the present disclosure.
16 is a view for explaining a process of matching the alignment state of the gripper and the jig according to an embodiment of the present disclosure.
17 is a view for explaining a process of matching the alignment state of the gripper and the jig according to an embodiment of the present disclosure.
18 is a flowchart illustrating a method for correcting an alignment direction of a gripper according to an embodiment of the present disclosure.
19 is a view for explaining a method for correcting the alignment direction of the gripper according to an embodiment of the present disclosure.
20 is a view for explaining a method for correcting the alignment direction of the gripper according to an embodiment of the present disclosure.
21 is a view for explaining a method for correcting the alignment direction of the gripper according to an embodiment of the present disclosure.
22 is a view for explaining a method for correcting the alignment direction of the gripper according to an embodiment of the present disclosure.
23 is a view for explaining a method for correcting the alignment direction of the gripper according to an embodiment of the present disclosure.
24 is a view for explaining a process of measuring the position of the center of the photographing unit from the center of the rotation shaft according to an embodiment of the present disclosure.
25 is a view for explaining a process of measuring the position of the center of the photographing unit from the center of the rotation shaft according to an embodiment of the present disclosure.
26 is a view for explaining a process of measuring a position of a gripper from a center of a rotation shaft according to an embodiment of the present disclosure;
27 is a diagram illustrating a vector of a photographing unit and a gripper according to an embodiment of the present disclosure.
28 is a view for explaining a process of measuring the position of the center of the photographing unit from the center of the rotation shaft according to an embodiment of the present disclosure.

Advantages and features of the disclosed embodiments, and methods of achieving them, will become apparent with reference to the embodiments described below in conjunction with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments allow the present disclosure to be complete, and those of ordinary skill in the art to which the present disclosure pertains. It is only provided to fully inform the person of the scope of the invention.

Terms used in this specification will be briefly described, and the disclosed embodiments will be described in detail.

The terms used in this specification are selected as currently widely used general terms as possible while considering the functions in the present disclosure, but may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the terms used in the present disclosure should be defined based on the meaning of the term and the contents of the present disclosure, rather than the simple name of the term.

References in the singular herein include plural expressions unless the context clearly dictates that the singular is singular. Also, the plural expression includes the singular expression unless the context clearly dictates the plural.

When a part "includes" a certain element throughout the specification, this means that other elements may be further included, rather than excluding other elements, unless otherwise stated.

In the present specification, "information related to a certain component" means information calculated based on a certain component, an index corresponding to a certain component, means information including a certain component, or linear with a certain component It means information that has a formal relationship or information that includes a certain component. The linear relationship may mean a direct proportional relationship or an inverse proportional relationship. The information may include numbers or text.

Also, as used herein, the term “unit” refers to a software or hardware component, and “unit” performs certain roles. However, "part" is not meant to be limited to software or hardware. A “unit” may be configured to reside on an addressable storage medium and may be configured to refresh one or more processors. Thus, by way of example, “part” includes components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays and variables. The functionality provided within components and “parts” may be combined into a smaller number of components and “parts” or further divided into additional components and “parts”.

According to an embodiment of the present disclosure, “unit” may be implemented with a processor and a memory. The term "processor" should be interpreted broadly to include general purpose processors, central processing units (CPUs), microprocessors, digital signal processors (DSPs), controllers, microcontrollers, state machines, and the like. In some circumstances, “processor” may refer to an application specific semiconductor (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), or the like. The term “processor” refers to a combination of processing devices, such as, for example, a combination of a DSP and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors in combination with a DSP core, or any other such configurations. may refer to.

The term “memory” should be interpreted broadly to include any electronic component capable of storing electronic information. The term memory includes random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erase-programmable read-only memory (EPROM), electrical may refer to various types of processor-readable media, such as erasable PROM (EEPROM), flash memory, magnetic or optical data storage, registers, and the like. A memory is said to be in electronic communication with the processor if the processor is capable of reading information from and/or writing information to the memory. A memory integrated in the processor is in electronic communication with the processor.

Hereinafter, with reference to the accompanying drawings, embodiments will be described in detail so that those of ordinary skill in the art to which the present disclosure pertains can easily implement them. And in order to clearly describe the present disclosure in the drawings, parts irrelevant to the description will be omitted.

1 is a view showing the configuration of an apparatus for inspecting a robot arm according to an embodiment of the present disclosure.

The robot arm 100 may include at least one joint 111 and 112 . The robot arm 100 may move at least one joint 111 and 112 to move the robot hand 120 to a specific position. The position of the robot hand 120 may mean the position of the robot hand 120 with respect to the fixed reference point of the robot arm 100 . For example, the coordinates of the robot hand 120 with respect to the joint 112 may be the position of the robot hand 120 .

In the present disclosure, the x-axis and the y-axis are axes parallel to the ground. The x-axis and the y-axis may be perpendicular to each other. The z-axis may be an axis perpendicular to the ground. The robot arm may indicate the position of the robot hand 120 based on the x-axis, the y-axis, and the z-axis.

At least one tool may be attached to the robot hand 120 . At least one tool may be attached below the rotation shaft 130 . The at least one tool may refer to various equipment used by the robot arm to perform an operation. The at least one tool may include at least one of a gripper, a photographing unit, and a screwdriver.

The rotation shaft 130 of the robot hand 120 may move in the z-axis direction. That is, the robot arm 100 may move at least one tool in the ground direction or in the opposite direction to the ground by the movement of the rotation shaft. The vertical movement of the robot hand 120 due to the movement of the rotation axis 130 may be expressed as a coordinate value with respect to the z-axis. As already described, the position of the robot hand 120 may include a coordinate value of the z-axis.

The robot hand 120 may include a rotation shaft 130 . The rotation axis 130 may be parallel to the z-axis. The robot hand 120 may rotate at least one tool about the rotation shaft 130 .

The posture of the robot arm 100 may include information about the position of the robot hand 120 and the rotation angle of the robot hand. Since the position of the robot hand 120 has already been described, the overlapping description will be omitted. The rotation angle information of the robot hand 120 may mean an angle at which the rotation shaft 130 is rotated from a predetermined initial angle. When the rotating shaft 130 rotates, at least one tool also rotates, so that the robot arm 100 can perform detailed work from various angles.

2 is a diagram illustrating the configuration of a control unit of a robot arm according to an embodiment of the present disclosure.

The robot arm 100 may include a control unit 200 . The controller 200 may include a processor 210 and a memory 220 . The processor 210 may perform various operations based on instructions stored in the memory 220 . For example, the controller 200 may control at least one tool attached to the robot arm 100 to perform an operation. An operation performed by the control unit 200 will be described in detail below.

3 is a view for explaining a robot hand according to an embodiment of the present disclosure. 4 is a view for explaining a jig according to an embodiment of the present disclosure.

The upper figure of FIG. 3 shows a perspective view of the robot hand 120 . In addition, the lower figure of FIG. 3 shows a plan view of the robot hand 120 .

The robot hand 120 may include a rotation shaft 130 , a gripper 310 , and a photographing unit 320 . The gripper 310 may be a tool for holding at least one of a pallet for placing a sample to be tested, a jig for placing a sample to be tested, or a sample to be tested. The robot arm 100 may hold at least one of a pallet, a jig, or a sample with the gripper 310 , and may move it to another place.

As already described, the robot hand 120 may include a rotating shaft 130 . The robot arm 100 may represent the position of the robot hand 120 as a position of a predetermined point included in the robot hand 120 with respect to a reference point. As described in conjunction with FIG. 1 , the reference point may be the joint 112 . In addition, the position of the predetermined point included in the robot hand 120 may be the center 135 of the rotation shaft 130 . As already described, the posture of the robot arm 100 may include information on the position of the robot hand 120 and the rotation angle of the robot hand 120 . For convenience of explanation, only the x-axis and the y-axis will be described. The position of the robot hand 120 may include the x-axis value and the y-axis value of the center 135 with respect to the reference point.

The gripper 310 may be spaced apart from the center 135 of the rotation shaft 130 by a first offset 315 . Therefore, in order for the robot arm 100 to move the gripper 310 to the target position, the first offset 315, the mounting direction of the gripper 310 with respect to the robot hand 120, the rotation angle of the robot hand 120, and At least one of the directions of the gripper 310 may be considered.

Here, the mounting direction of the gripper 310 with respect to the robot hand 120 may refer to a direction in which the gripper 310 is mounted when viewed from the rotation shaft 130 . For example, referring to the figure below in FIG. 3 , one of the grippers 310 is located in the direction of the x-axis when viewed from the rotational shaft 130 , and the other of the grippers 310 is located in the direction of the x-axis when viewed from the rotational shaft 130 , x It can be located in the opposite direction of the axis.

Also, the direction of the gripper 310 may mean a longitudinal direction of the gripper 310 . Referring to FIG. 3 , the longitudinal direction of the gripper 310 may be parallel to the y-axis.

The robot arm 100 has a first offset 315, a mounting direction of the gripper 310 with respect to the robot hand 120, a rotation angle of the robot hand 120, and the gripper based on a predetermined value stored in the memory. At least one of the directions of 310 may be determined. However, in the process of mounting the gripper 310 on the robot arm 100 or producing the gripper, the first offset 315, the mounting direction of the gripper 310 with respect to the robot hand 120, and the rotation of the robot hand 120 At least one of the angle and the direction of the gripper 310 may be different from a value stored in the memory. Accordingly, the robot arm 100 corrects at least one of the first offset 315 , the mounting direction of the gripper 310 with respect to the robot hand 120 , the rotation angle of the robot hand 120 , and the direction of the gripper 310 . In order to do this, the positions of at least two points on the gripper can be measured. This will be described in conjunction with FIG. 5 .

Referring to FIG. 4 , the jig 400 may include at least one groove 411 and 412 for placing a sample. Also, the jig 400 may include a first identification area 420 and a second identification area 430 . The robot arm 100 photographs at least one of the first identification area 420 and the second identification area 430 of the jig 400 with the photographing unit 320 , and the jig for the reference point of the robot arm 100 . The position of , the position of the gripper, and the position of the photographing unit 320 may be measured.

Referring back to FIG. 3 , the robot hand 120 may include a photographing unit 320 . The photographing unit 320 may face the ground. The photographing unit 320 may take an image and output the image to the output unit.

The photographing unit 320 may be spaced apart from the center 135 of the rotation shaft 130 by a second offset 325 . Therefore, in order for the robot arm 100 to move the photographing unit 320 to the target position, the second offset 325 , the mounting direction of the photographing unit 320 with respect to the robot hand 120 , and rotation of the robot hand 120 . At least one of each may be considered.

Here, the mounting direction of the photographing unit 320 with respect to the robot hand 120 may refer to a direction in which the photographing unit 320 is mounted when viewed from the rotating shaft 130 . For example, referring to the picture below of FIG. 3 , the photographing unit 320 may be located in a direction opposite to the y-axis when viewed from the rotation axis 130 .

The robot arm 100 has at least one of a second offset 325 , a mounting direction of the gripper 310 with respect to the robot hand 120 , and a rotation angle of the robot hand 120 based on a predetermined value stored in the memory. You can decide one. However, in the process of mounting the photographing unit 320 on the robot arm 100 or producing the photographing unit 320 , the second offset 325 , the mounting direction of the photographing unit 320 with respect to the robot hand 120 , and At least one of the rotation angles of the robot hand 120 may be different from a value stored in the memory. Therefore, the robot arm 100 is a second offset 325 , a mounting direction of the photographing unit 320 with respect to the robot hand 120 , and a predetermined point to correct at least one of the rotation angle of the robot hand 120 . position can be measured.

5 is a flowchart illustrating a method of operating a robot arm according to an embodiment of the present disclosure.

First, the robot arm 100 may measure the position of the target position in order for the gripper 310 to hold the jig at the target position or to place the jig at the target position. 3 and 4 , since the gripper 310 is linear in the present disclosure, it may be necessary to measure at least two points in order to measure the target position. When the gripper 310 is linear, it means that it can hold a plurality of samples arranged in a line.

However, the present invention is not limited thereto. When the gripper 310 is not linear but has a point shape, one point may be measured in order to measure a target position. The fact that the gripper 310 is dotted may indicate that the gripper 310 holds only one sample. Also, when the gripper 310 has a planar shape, at least three points may be measured in order to measure a target position. The fact that the gripper 310 is planar may indicate that the gripper 310 can hold samples arranged in a plurality of rows.

Hereinafter, the flowchart of FIG. 5 will be described in detail along with a plurality of drawings.

6 is a diagram illustrating a process of measuring a target position according to an embodiment of the present disclosure.

6 schematically shows the robot hand 120 for convenience of explanation. 6 is a diagram schematically showing a top view of the target position and the robot hand 120 .

As already described, the robot arm 100 may include a control unit 200 and a robot hand 120 . Also, the robot hand 120 may include a gripper 310 , a photographing unit 320 , and a rotation shaft 130 .

The robot arm 100 may measure a target position based on the first teaching jig 610 . The first teaching jig 610 may include at least one of a first identification area 611 and a second identification area 612 .

As already described, the position of the robot hand 120 may include an x-coordinate and a y-coordinate. The position of the robot hand 120 may be represented by coordinates from the joint 112 to the center of the rotation shaft 130 . For example, the position of the robot hand 120 may be expressed as a vector 620 .

The first teaching jig 610 may be located at a target position. The robot arm 100 may operate with various devices. For example, the robot arm 100 may operate together with a conveyor belt or a sample inspection device. In order for the robot arm 100 to operate together with other devices, the robot arm 100 needs to align and position the jig at a specific position in a specific direction so that the other device can move or inspect the jig. Here, the specific location may be the target location. Also, the specific direction may be the first vector. The first vector may be related to a target rotation angle among the target postures of the robot arm 100 . Also, a first vector to be described later may be related to an alignment state of a jig for cooperation with other devices.

7 is a diagram illustrating a process of measuring a target position according to an embodiment of the present disclosure.

In a state in which the robot hand 120 is rotated at the reference rotation angle, the control unit 200 uses the photographing unit 320 to detect the first identification area 611 included in the first teaching jig 610 at the target position. An operation 510 of acquiring an image including the image may be performed.

The controller 200 may control the robot hand 120 to rotate from a predetermined initial angle to a reference rotation angle about the rotation shaft 130 . The reference rotation angle may be the same as the initial angle. Referring to FIG. 7 , the robot hand 120 may be rotated at a reference rotation angle.

The first teaching jig 610 may be at a target position. The target position may be a position for the gripper 310 to place or hold the jig. The target position may be a position for the gripper 310 to work.

The robot arm 100 may move in order for the photographing unit 320 to photograph the first identification area 611 included in the first teaching jig 610 . The user may move the robot arm 100 so that the photographing unit 320 can take the first identification area 611 . However, the present invention is not limited thereto, and the control unit 200 controls the robot arm 100 to automatically move so that the photographing unit 320 can take the first identification area 611 based on information previously stored in the memory. can do. As above, even if the control unit 200 can automatically move the robot arm, there may be an error, so it is necessary to perform additional correction as follows.

The control unit 200 may acquire an image of the first identification area 611 photographed by the photographing unit 320 . The controller 200 may control the image to be output from the output unit. The user can check the image from the output unit.

8 illustrates an image output to an output unit according to an embodiment of the present disclosure.

The image 800 may include an image 820 of the first identification region 611 . The image 800 may include a center 810 of the image. Also, the image 800 may include a circle 840 for estimating the size of the identification area.

The image 820 of the first identification area 611 may have a darker color than the background. The controller 200 may distinguish the image 820 and the background of the first identification area 611 by using image processing. The second to fourth identification regions to be described below may also have a darker color than the background. The controller 200 may distinguish the second to fourth identification regions from the background using image processing.

The controller 200 compares the size of the image 820 of the first identification region 611 and the size of the circle 840 to determine whether the identification region included in the current image 800 is the first identification region 611 or not. 2 It is possible to determine whether it is an identification area. For example, if it is smaller than the circle 840, it may be the first identification area 611, and if it is larger than or equal to the circle 840, it may be the second identification area. However, the present invention is not limited thereto, and may be the first identification area 611 if it is larger than or equal to the circle 840 , and may be the second identification area if it is smaller than the circle 840 .

Referring to FIG. 8 , the center of the first identification area 611 and the center 810 of the image 800 may not coincide. The controller 200 may perform a step 520 of moving the robot arm so that the center 810 of the image 800 acquired by the photographing unit 320 coincides with the center of the first identification area 611 . The controller 200 may rotate the robot hand 120 or may not move in the z-axis. The controller 200 may move the robot arm 100 along the x-axis or the y-axis. For example, the controller 200 may move the robot arm 100 like the x-axis vector 830 . Here, the movement of the robot arm has the same meaning as the movement of the robot hand.

The controller 200 may not know which direction to move in order to make the center 810 of the image 800 and the center of the first identification area 611 coincide. That is, the controller 200 may not know the direction of the vector. The controller 200 may try to move the robot arm 100 in any direction. Also, the area of the intersection of the circle 840 and the image 820 immediately before the movement may be compared with the area of the intersection of the circle 840 and the image 820 after the movement. The controller 200 may move the robot arm 100 by determining the x-axis vector 830 in a direction opposite to the arbitrary direction when the area after the movement is reduced. In addition, if the area after the movement is increased, the controller 200 may determine the x-axis vector 830 in the arbitrary direction to move the robot arm 100 . The controller 200 may determine the size of the vector with a predetermined size.

Also, the controller 200 may match the center 810 of the image 800 and the center of the first identification area 611 in another method. The controller 200 may try to move the robot arm 100 in any direction. Also, the controller 200 may know the center 810 of the image 800 . Also, the controller 200 may calculate the center of the dark image 820 by image processing. A variety of algorithms may be used to calculate the centroid. The controller 200 may compare the distance between the center 810 of the image 800 and the center of the image 820 . If the distance increases after moving, the controller 200 may move the robot arm 100 by determining the x-axis vector 830 in a direction opposite to the arbitrary direction. In addition, if the distance is reduced after moving, the controller 200 may determine the x-axis vector 830 in the arbitrary direction to move the robot arm 100 . The controller 200 may determine the size of the vector with a predetermined size.

9 illustrates an image output to an output unit according to an embodiment of the present disclosure.

Referring to the image 900 of FIG. 9 , the center of the image 920 of the first identification area 611 and the image 900 even though the controller 200 moves the robot arm 100 by the x-axis vector 830 . The centers 810 of may not coincide. The controller 200 may move the robot arm 100 like the y-axis vector 930 perpendicular to the x-axis vector 830 . Since the method of determining the size and direction of the y-axis vector 930 is the same as the method of determining the size and direction of the x-axis vector 830 , a redundant description will be omitted.

Although the above has been described in order from the x-axis vector to the y-axis vector, the present invention is not limited thereto. The controller 200 may first move using the y-axis vector and then move using the x-axis vector. Also, the controller 200 may make the centers 810 of the images 800 and 900 and the centers of the first identification region 611 coincide with each other by repeatedly using the method described with reference to FIGS. 8 and 9 .

10 illustrates an image output to an output unit according to an embodiment of the present disclosure.

The controller 200 may match the center 810 of the image 1000 with the center of the first identification area 611 . The control unit 200 may store information about the posture of the robot arm 100 in the memory at this time. Information on the posture of the robot arm 100 may include information on the position of the robot hand 120 and the rotation angle of the robot hand 120 . For example, when the center 810 of the image and the center of the first identification area 611 coincide with each other, the control unit 200 performs a step 530 of storing the position of the robot hand 120 as the first position. can do. Here, the first position of the robot hand 120 may mean the position of the robot hand 120 with respect to the fixed reference point of the robot arm 100 .

Also, as described with reference to FIGS. 7 to 10 , since the robot hand 120 is moving while maintaining the reference rotation angle, the controller 200 may not separately store the reference rotation angle. However, the present invention is not limited thereto, and the controller 200 may store the reference rotation angle as rotation angle information of the robot hand 120 .

11 is a diagram illustrating a process of measuring a target position according to an embodiment of the present disclosure.

The controller 200 may perform an operation 540 of acquiring an image including the second identification area 612 included in the first teaching jig at the target position by using the photographing unit. The size of the second identification area 612 may be different from that of the first identification area 611 . The first identification area 611 and the second identification area 612 may be grooves included in the first teaching jig. The gripper 310 may include a first protrusion and a second protrusion. The gripper 310 can hold the jig only when the first protrusion is inserted into the first identification area 611 and the second protrusion is inserted into the second identification area 612 . If the first projection is in the second identification area 612 and the second projection is in the first identification area 611 , the size of the projection and the groove do not match, so that the gripper 310 may not hold the jig. That is, the gripper 310 may be designed to hold the jig only in a specific direction.

The robot arm 100 may move so that the photographing unit 320 may photograph the second identification area 612 included in the first teaching jig 610 . The user may move the robot arm 100 so that the photographing unit 320 can take a picture of the second identification area 612 . However, the present invention is not limited thereto, and the control unit 200 controls the robot arm 100 to automatically move so that the photographing unit 320 can take a picture of the second identification area 612 based on information previously stored in the memory. can do.

The controller 200 may perform an operation 550 of moving the robot arm so that the center of the image acquired by the photographing unit coincides with the center of the second identification area. Step 550 may be similar to step 520 . Since step 520 has been described with reference to FIGS. 8 to 9 , a redundant description of step 550 is omitted.

When the center of the image and the center of the second identification area 612 coincide with each other, the controller 200 may perform an operation 560 of storing the position of the robot hand as the second position. Here, the second position of the robot hand 120 is the position of the robot hand 120 with respect to the fixed reference point of the robot arm 100 when the center of the image and the center of the second identification area 612 coincide. can mean

Since the robot hand 120 is moving while maintaining the reference rotation angle, the controller 200 may not separately store the reference rotation angle. However, the present invention is not limited thereto, and the controller 200 may store the reference rotation angle as rotation angle information of the robot hand 120 .

Step 560 may be similar to step 530 . Since step 530 has been described with reference to FIG. 10 , a redundant description of step 560 is omitted.

12 is a diagram for describing a first vector according to an embodiment of the present disclosure.

The control unit 200 may perform the step 570 of determining the first vector 1220 based on the first position with respect to the first identification region 611 and the second position with respect to the second identification region 612 . have. The controller 200 may determine the first vector 1220 by subtracting the coordinates of the second position 612 from the coordinates of the first position 611 . However, the present invention is not limited thereto, and the first vector 1220 may be determined by subtracting the first position coordinates from the second position coordinates. In order for the robot arm 100 to cooperate with other devices, it may be necessary to place the jig in a specific alignment state at a target position. In addition, in order for the robot arm 100 to hold the jig, another device may place the jig at a target position in a specific alignment state. The first vector 1220 may be related to the alignment state of the jig. Also, the first vector 1220 may be related to a target rotation angle included in the target posture of the robot arm 100 . Referring to FIG. 12 , the length direction of the first teaching jig 610 may be parallel to the y-axis.

The controller 200 may determine the coordinates 1210 of the target position based on the first position with respect to the first identification region 611 and the second position with respect to the second identification region 612 . For example, the average of the first position and the second position may be determined as the coordinates 1210 of the target position. In the present disclosure, the coordinates 1210 of the target position may be expressed as the coordinates of the first central point. The target position may be a position at which the gripper 310 should place or hold a jig while working. As with the first teaching jig 610 shown in FIG. 12 , the assembly and inspection procedure using the robot arm 100 and the conveyor belt can be performed only when the jig is placed. The coordinates 1210 of the target location are coordinate values for representing the target location, and may be coordinates of the first central point.

The control unit 200 may know at which position the jig or the test sample should be placed based on the coordinates 1210 of the target position. Also, the control unit 200 may know in which direction the jig or the test sample should be placed based on the first vector 1220 . Also, the controller 200 may determine in which position and in which direction the jig or the test sample should be held based on the coordinates 1210 and the first vector 1220 of the target position.

The controller 200 may represent the position of the robot hand 120 as a vector 620 . In addition, the control unit 200 may obtain a photographing unit vector 1230 from the pre-stored rotation shaft 130 to the center of the photographing unit 320 . When the center of the image captured by the photographing unit 320 coincides with the center of the first or second identification area, the control unit 200 includes a position vector 620 of the robot hand 120 and a vector ( 1230) to obtain the coordinates from the reference point of the first identification area or the second identification area. As already described, the reference point may be, for example, the joint 112 .

In addition, the control unit 200 may acquire the coordinates 1210 of the target position from the reference point based on the coordinates of the first identification area or the coordinates of the second identification area with respect to the reference point.

The controller 200 may perform an operation 580 of determining a target posture of the robot arm when the gripper is positioned at the target position based on the first vector. Step 580 will be described in more detail below. The target posture may include a target position or a target rotation angle.

13 is a flowchart illustrating a method of operating a robot arm according to an embodiment of the present disclosure.

Each step of FIG. 13 will be described in detail with FIGS. 14 to 16 .

14 is a view for explaining a process of matching the alignment state of the gripper and the jig according to an embodiment of the present disclosure.

The tools included in the robot hand may be spaced apart by a predetermined distance from the rotation shaft 130 by a designer's design. Also, the tools may be aligned in a specific orientation by the designer's design. For example, the longitudinal direction of the gripper 310 may be designed to be arranged parallel to the y-axis. However, the position and alignment of the gripper may be misaligned during the assembly process of the gripper or the operation process of the gripper.

For example, the gripper 310 shows the position and alignment of the designed gripper. However, during the process of assembling the gripper 310 or while using the gripper 310 , the alignment of the gripper 310 may be misaligned. The gripper 1410 shows the position and the alignment state of the misaligned gripper. Like the gripper 1410 , the robot arm 100 may hold the jig 610 at the target position or place the jig 610 at the target position by changing the posture of the robot arm 100 even if the alignment and position are changed like the gripper 1410 . Hereinafter, for convenience of description, the gripper 1410 will be described instead of the gripper 310 .

15 is a view for explaining a process of matching the alignment state of the gripper and the jig according to an embodiment of the present disclosure.

The control unit 200 may perform a step 1310 of controlling the second teaching jig 1510 coupled to the gripper 1410 to be put down at an arbitrary position while the robot hand is rotated at the reference rotation angle. have. Here, the reference rotation angle may be the same as the reference rotation angle as described with reference to FIG. 7 .

The controller 200 may control the robot hand 120 to rotate from a predetermined initial angle to a reference rotation angle about the rotation shaft 130 . The reference rotation angle may be the same as the initial angle. Referring to FIG. 7 , the robot hand 120 may be rotated at a reference rotation angle.

The first teaching jig 610 may be the same as the second teaching jig 1510 . The user may attach the second teaching jig 1510 to the gripper 1410 in advance. The robot arm 100 may put down the second teaching jig 1510 at an arbitrary position. Since the second teaching jig 1510 will maintain the laid down state, the shape of the second teaching jig 1510 in an arbitrary position is the gripper 1410 in a state in which the robot hand 120 is rotated at a reference rotation angle. may have the same shape as That is, the second teaching jig 1510 placed at an arbitrary position may reflect the alignment state of the gripper 1410 .

In a state in which the robot hand 120 is rotated at the reference rotation angle, the control unit 200 moves the robot arm so that the photographing unit 320 can acquire the image of the third identification area 1511 of the second teaching jig. Step 1320 may be performed. Since the robot hand 120 must maintain the rotational state at the reference rotation angle, the robot arm 100 can move only in the x-axis or the y-axis without rotating the robot hand 120 in step 1310 . The robot arm 100 can move automatically based on the pre-stored position of the gripper 1410 so that the photographing unit 320 can acquire the image of the third identification area 1511 of the second teaching jig. have. Alternatively, the user may move the robot arm 100 so that the photographing unit 320 may acquire an image of the third identification area 1511 of the second teaching jig.

The control unit 200 may perform an operation 1330 of acquiring an image including the third identification area 1511 included in the second teaching jig 1510 using the photographing unit 320 . In addition, the control unit 200 may perform the step 1340 of moving the robot arm so that the center of the image acquired by the photographing unit 320 and the center of the third identification region coincide. Step 1340 may be similar to step 520 or step 550 . Since step 520 has been described in FIGS. 8 to 10 , a redundant description of step 1340 is omitted.

When the center of the image and the center of the third identification area 1511 coincide with each other, the controller 200 may perform an operation 1350 of storing the position of the robot hand as the third position. Here, the third position of the robot hand 120 is the position of the robot hand 120 with respect to the fixed reference point of the robot arm 100 when the center of the image and the center of the third identification area 1511 coincide. can mean

Since the robot hand 120 is moving while maintaining the reference rotation angle, the controller 200 may not separately store the reference rotation angle. However, the present invention is not limited thereto, and the controller 200 may store the reference rotation angle as rotation angle information of the robot hand 120 .

Step 1350 may correspond to step 530 or step 560 . Since step 530 has been described with reference to FIG. 10 , a redundant description of step 1350 will be omitted.

16 is a view for explaining a process of matching the alignment state of the gripper and the jig according to an embodiment of the present disclosure.

The controller 200 may perform an operation 1360 of acquiring an image including the fourth identification region 1512 included in the second teaching jig 1510 using the photographing unit 340 . The size of the fourth identification area 1512 may be different from that of the third identification area 1511 . The third identification area 1511 and the fourth identification area 1512 may be grooves included in the second teaching jig 1500 . The gripper 1410 may include a first protrusion and a second protrusion. The gripper 1410 can hold the jig only when the first protrusion is inserted into the third identification area 1511 and the second protrusion is inserted into the fourth identification area 1512 . In addition, the gripper 1410 may include tongs for holding a fine sample on the jig. When the above conditions are satisfied, the gripper 1410 may pick up the sample placed on the second teaching jig. Here, the sample may be one of micro-parts for assembling or an object of inspection.

If the first protrusion is in the fourth identification area 1512 of the second jig and the second protrusion is in the third identification area 1511 of the second jig, the size of the protrusion and the groove do not match and the gripper 1410 is the jig. may not be able to catch That is, the gripper 1410 may be designed to hold the jig only in a specific direction.

Also, the first identification area 611 may correspond to the third identification area 1511 . That is, the size of the first identification area 611 may be the same as the size of the third identification area 1511 . Also, the position of the first identification area 611 on the first teaching jig 610 may be the same as the position of the third identification area 1511 on the second teaching jig 1510 .

Also, the second identification area 612 may correspond to the fourth identification area 1512 . That is, the size of the second identification area 612 may be the same as the size of the fourth identification area 1512 . Also, the position of the second identification area 612 on the first teaching jig 610 may be the same as the position of the fourth identification area 1512 on the second teaching jig 1510 .

The robot arm 100 may move in order for the photographing unit 320 to photograph the fourth identification area 1512 included in the second teaching jig 1510 . The user may move the robot arm 100 so that the photographing unit 320 can take a picture of the fourth identification area 1512 . However, the present invention is not limited thereto, and the control unit 200 controls the robot arm 100 to automatically move so that the photographing unit 320 can take a picture of the fourth identification area 1512 based on information previously stored in the memory. can do.

The control unit 200 may perform an operation 1370 of moving the robot arm so that the center of the image acquired by the photographing unit 320 and the center of the fourth identification area 1512 coincide. Step 1370 may be similar to step 520 . Since the step 520 has been described with reference to FIGS. 8 to 9 , a redundant description of the step 1370 is omitted.

When the center of the image and the center of the fourth identification region 1512 coincide with each other, the controller 200 may perform an operation 1380 of storing the position of the robot hand 120 as the fourth position. Here, the fourth position of the robot hand 120 is the position of the robot hand 120 with respect to the fixed reference point of the robot arm 100 when the center of the image and the center of the fourth identification area 1512 coincide. can mean

Since the robot hand 120 is moving while maintaining the reference rotation angle, the controller 200 may not separately store the reference rotation angle. However, the present invention is not limited thereto, and the controller 200 may store the reference rotation angle as rotation angle information of the robot hand 120 .

17 is a view for explaining a process of matching the alignment state of the gripper and the jig according to an embodiment of the present disclosure.

The second teaching jig 1510 may refer to a state placed at an arbitrary position. As already described, the second teaching jig 1510 may reflect the alignment state of the gripper 1410 .

The control unit 200 performs a step 1390 of determining the second vector 1720 based on the third position corresponding to the third identification region 1511 and the fourth position corresponding to the fourth identification region 1512 . can do. The controller 200 may determine the second vector 1720 by subtracting the coordinates of the fourth position 1512 from the coordinates of the third position 1511 . However, the present invention is not limited thereto, and the second vector 1720 may be determined by subtracting the coordinates of the third position 1511 from the coordinates of the fourth position 1512 . The direction of the second vector 1720 may reflect the alignment state of the gripper 1410 .

The controller 200 may determine the coordinates 1710 of the position of the second teaching jig 1510 based on the third position 1511 and the fourth position 1512 . In the present disclosure, a position of the second teaching jig 1510 may be expressed as a second central point. Also, the coordinates of the position of the second teaching jig 1510 may be expressed as the position of the second central point. For example, the average of the third position 1511 and the fourth position 1512 may be determined as the coordinates 1710 of the position of the second teaching jig 1510 . The coordinates 1710 of the position of the second teaching jig 1510 are coordinate values for representing the position of the second teaching jig 1510 , and may be the coordinates of the second central point.

17 , the first vector 1220 may not be parallel to the second vector 1720 . That is, the alignment state of the gripper 1410 may not be suitable for picking up the first teaching jig 610 at the target position or placing the first teaching jig 610 at the target position. Accordingly, the robot arm 100 may rotate the robot hand 120 so that the alignment direction of the gripper 1410 is the same as the alignment direction of the first teaching jig 610 at the target position. Here, the alignment direction of the first teaching jig 610 may refer to the direction of the first vector 1220 . Also, the alignment direction of the gripper 1410 may mean the direction of the second vector 1720 . This will be described together with FIG. 18 .

18 is a flowchart illustrating a method for correcting an alignment direction of a gripper according to an embodiment of the present disclosure.

17, when the direction of the first vector 1220 does not match the direction of the second vector 1720, the control unit 200 moves the robot arm 100 so that the gripper 1410 moves the second teaching jig ( A step 1810 of controlling to catch 1510 may be performed. In FIG. 14 , the gripper 1410 holds and releases the second teaching jig 1510 , and in FIG. 15 , the robot arm 100 moves to photograph the third identification area 1511 . Therefore, when moving from the position of the robot arm 100 of FIG. 15 to the position of the robot arm 100 of FIG. 14 , the robot arm 100 may move to a position where it can hold the second teaching jig 1510 .

19 is a view for explaining a method for correcting the alignment direction of the gripper according to an embodiment of the present disclosure.

The control unit 200 rotates the robot hand 120 about the rotation axis 130 so that the direction of the second vector 1720 coincides with the first vector 1220, and then the second teaching jig 1510 coupled to the gripper. ) can be performed to control to put down in the modified position (1820).

The controller 200 may calculate an angle at which the robot hand 120 needs to rotate in order for the second vector 1720 to match the first vector 1220 . The angle at which the robot hand 120 should rotate may be calculated based on the second vector 1720 and the first vector 1220 . The controller 200 may control the robot hand 120 to rotate while holding the second teaching jig 1510 . After rotating the robot hand 120 , the controller 200 may place the second teaching jig 1510 at an arbitrary point.

20 is a view for explaining a method for correcting the alignment direction of the gripper according to an embodiment of the present disclosure.

20 illustrates a process for measuring the position of the third identification area 1511 of the second teaching jig 1510 of the corrected position or angle. Only the angle or position of the second teaching jig 1510 is different, and since the description of FIG. 20 overlaps the description of FIG. 15 , the overlapping description will be omitted.

21 is a view for explaining a method for correcting the alignment direction of the gripper according to an embodiment of the present disclosure.

20 illustrates a process for measuring the position of the fourth identification area 1512 of the second teaching jig 1510 of the corrected position or angle. Only the angle or position of the second teaching jig 1510 is different, and since the description of FIG. 21 overlaps with that of FIG. 16 , the overlapping description will be omitted.

22 is a view for explaining a method for correcting the alignment direction of the gripper according to an embodiment of the present disclosure.

The control unit 200 may perform an operation 1830 of obtaining at least one of the corrected second vector 2220 and the corrected second center point based on the second teaching jig 1510 at the corrected position. The controller 200 may determine the second vector 2220 by subtracting the coordinates of the fourth position 1512 from the coordinates of the third position 1511 . However, the present invention is not limited thereto, and the second vector 2220 may be determined by subtracting the coordinates of the third position 1511 from the coordinates of the fourth position 1512 .

The controller 200 may determine the coordinates 2210 of the position of the second teaching jig 1510 based on the third position 1511 and the fourth position 1512 . The coordinates 2210 of the position of the second teaching jig 1510 may be the corrected coordinates of the second central point. For example, the average of the third position 1511 and the fourth position 1512 may be determined as the coordinates 2210 of the position of the second teaching jig 1510 . The coordinates 2210 of the position of the second teaching jig 1510 may be coordinate values for representing the position of the second teaching jig 1510 .

The controller 200 may repeatedly perform the process described with reference to FIGS. 18 to 22 until the corrected direction of the second vector coincides with the direction of the first vector.

23 is a view for explaining a method for correcting the alignment direction of the gripper according to an embodiment of the present disclosure.

Referring to FIG. 5 , the step 580 of determining the target posture of the robot arm 100 may be performed through the following process. Referring back to FIG. 23 , when the direction of the first vector 1220 coincides with the direction of the second vector 2220 , the controller 200 sets the current rotation angle of the robot hand 120 to that of the robot arm 100 . The step of determining as the target rotation angle of the robot hand 120 included in the target posture may be performed. For example, the target rotation angle of the robot hand 120 may mean a state in which the robot hand 120 is rotated as shown in FIG. 23 .

The controller 200 may acquire the target position of the robot hand 120 included in the target posture of the robot arm 100 based on the movement vector 2310 . The movement vector 2310 may be obtained by subtracting the coordinates 2210 of the corrected position of the second teaching jig 1510 from the coordinates of the target position 1210 . That is, the controller 200 may obtain the movement vector 2310 for determining the target posture based on the difference between the coordinates of the first central point and the coordinates of the second central point.

Referring to FIG. 23 , by moving the robot arm 100 in the x-axis and y-axis by the movement vector 2310 , the gripper 1410 may be controlled to go directly above the first teaching jig 610 . For example, the robot arm 100 moves by a movement vector 2310 from the position of the robot hand 120 when the second teaching jig 1510 is placed at the corrected position, so that the gripper 1410 moves the first It can be controlled to go directly above the teaching jig 610 . At this time, the gripper 1410 may hold the first teaching jig 610 . In addition, the robot arm 100 may perform an assembly process or an inspection process in cooperation with other devices.

Also, the robot arm 100 may store the position of the robot hand 120 as the final target position when the gripper 1410 is directly above the first teaching jig 610 . The final target position may appear as a position of the center of the rotation shaft 130 with respect to a fixed reference point of the robot arm 100 .

24 is a view for explaining a process of measuring the position of the center of the photographing unit from the center of the rotation shaft according to an embodiment of the present disclosure.

Referring to the figure 2410 of FIG. 24 , the control unit 200 may perform a step of placing the second teaching jig coupled to the gripper at an arbitrary position. In the present disclosure, it has been described that the second teaching jig 1510 is laid down, but the present disclosure is not limited thereto. That is, the robot arm 100 may use the first teaching jig. Also, the first teaching jig may be the same as the second teaching jig 1510 . The step of placing the second teaching jig at an arbitrary position is an essential process for measuring the position of the gripper 310 , but may not be an essential process for measuring the position of the center of the photographing unit 320 . In order to measure the position of the center of the photographing unit 320, the process of placing the second teaching jig at an arbitrary position may be omitted.

The control unit 200 may measure the position of the center of the photographing unit 320 by photographing one arbitrary point with the photographing unit 320 while rotating the robot hand 120 at three or more angles. The three angles may be any other angle. For example, the three angles may be perpendicular to each other, but is not limited thereto. The three angles may differ from each other by 120 degrees. 24 illustrates a process of photographing the third identification area 1511 while the photographing unit 320 rotates at three angles. However, the present invention is not limited thereto, and the control unit 200 rotates the robot hand 120 at four or more angles while photographing one arbitrary point with the photographing unit 320 to determine the position of the center of the photographing unit 320 . can be measured

The control unit 200 acquires the image of the third identification area 1511 of the second teaching jig 1510 at an arbitrary position by the photographing unit 320 in a state in which the robot hand 120 is rotated at the first rotation angle. A step of moving the robot arm may be performed to do so. The figure 2410 of FIG. 24 shows a state in which the robot hand 120 is rotated at the first rotation angle. For example, if the center of the photographing unit 320 is located in the x-axis direction from the center of the rotation shaft 130 of the robot hand 120, it may be a state rotated at the first rotation angle.

The controller 200 may perform an operation of acquiring an image including the third identification region 1511 included in the second teaching jig 1510 by using the photographing unit 320 . In addition, the control unit 200 may perform the step of moving the robot arm so that the center of the image acquired by the photographing unit 320 and the center of the third identification area 1511 coincide. In the present disclosure, acquiring the image of the third identification region 1511 is taken as an example, but it may not be necessary to acquire the image of the third identification region 1511 in order to measure the center of the photographing unit 320 . . The control unit 200 may perform the following process based on an arbitrary point, and may measure the position of the center of the photographing unit from the center of the rotation axis. However, in order to measure the position of the gripper 310 , it is necessary to acquire an image including the third identification area 1511 included in the second teaching jig 1510 .

The step of moving the robot arm so that the center of the image and the center of the third identification region coincide may be similar to step 520 or step 550 . Since step 520 has been described with reference to FIGS. 8 to 10 , a redundant description will be omitted.

The control unit 200 may perform a step of acquiring the position of the robot hand as the fifth position when the center of the image acquired by the photographing unit coincides with the center of the third identification area. Here, the fifth position of the robot hand 120 is the robot arm 100 when the center of the image and the center of the third identification area 1511 coincide with the robot hand 120 rotated at the first rotation angle. ) may mean the position of the robot hand 120 with respect to the fixed reference point. As already described, the position of the robot hand 120 may mean the position of the center of the rotation shaft 130 with respect to the fixed reference point of the robot arm 100 .

Referring to the figure 2420 of FIG. 24 , the control unit 200 controls the robot hand 120 to rotate at the second rotation angle, and the photographing unit 320 captures the image of the third identification area of the second teaching jig. A step of moving the robot arm to obtain it may be performed. The figure 2420 of FIG. 24 shows a state in which the robot hand 120 is rotated at the second rotation angle. For example, a state in which the center of the photographing unit 320 is positioned opposite to the y-axis direction from the center of the rotation shaft 130 of the robot hand 120 may be a state rotated at the second rotation angle. However, the present invention is not limited thereto, and the second rotation angle may be an arbitrary rotation angle different from the first rotation angle.

The controller 200 may perform an operation of acquiring an image including the third identification region 1511 included in the second teaching jig 1510 by using the photographing unit 320 . In addition, the control unit 200 may perform the step of moving the robot arm 100 so that the center of the image acquired by the photographing unit 320 and the center of the third identification area 1511 coincide. The step of moving the robot arm 100 so that the center of the image and the center of the third identification area 1511 coincide may be similar to step 520 or step 550 . Since step 520 has been described with reference to FIGS. 8 to 10 , a redundant description will be omitted.

The control unit 200 may perform a step of acquiring the position of the robot hand 120 as the sixth position when the center of the image obtained by the photographing unit 320 and the center of the third identification area 1511 coincide have. Here, the sixth position of the robot hand 120 is the robot arm 100 when the center of the image and the center of the third identification area 1511 coincide with the robot hand 120 rotated at the second rotation angle. ) may mean the position of the robot hand 120 with respect to the fixed reference point. As already described, the position of the robot hand 120 may mean the position of the center of the rotation shaft 130 with respect to the fixed reference point of the robot arm 100 .

Referring to the figure 2430 of FIG. 24 , the control unit 200 controls the photographing unit of the third identification area 1511 of the second teaching jig 1510 while the robot hand 120 is rotated at the third rotation angle. A step of moving the robot arm to acquire an image may be performed. A figure 2430 of FIG. 24 shows a state in which the robot hand 120 is rotated at a third rotation angle. For example, if the center of the photographing unit 320 is located opposite to the direction of the x-axis from the center of the rotation shaft 130 of the robot hand 120, it may be a state rotated at the third rotation angle. However, the present invention is not limited thereto, and the third rotation angle may be an arbitrary rotation angle different from the first rotation angle and the second rotation angle.

The controller 200 may perform an operation of acquiring an image including the third identification region 1511 included in the second teaching jig 1510 by using the photographing unit 320 . In addition, the control unit 200 may perform the step of moving the robot arm 100 so that the center of the image acquired by the photographing unit 320 and the center of the third identification area 1511 coincide. The step of moving the robot arm 100 so that the center of the image and the center of the third identification area 1511 coincide may be similar to step 520 or step 550 . Since step 520 has been described with reference to FIGS. 8 to 10 , a redundant description will be omitted.

The control unit 200 may perform a step of acquiring the position of the robot hand 120 as the seventh position when the center of the image obtained by the photographing unit 320 and the center of the third identification area 1511 coincide have. Here, the seventh position of the robot hand 120 is the robot arm 100 when the center of the image and the center of the third identification area 1511 coincide with the robot hand 120 rotated at the third rotation angle. ) may mean the position of the robot hand 120 with respect to the fixed reference point. As already described, the position of the robot hand 120 may mean the position of the center of the rotation shaft 130 with respect to the fixed reference point of the robot arm 100 .

Also, the control unit 200 may perform a step of obtaining an offset of the position of the photographing unit 320 with respect to the rotation shaft 130 based on the fifth to seventh positions. This will be described in detail with reference to FIG. 25 .

25 is a view for explaining a process of measuring the position of the center of the photographing unit from the center of the rotation shaft according to an embodiment of the present disclosure.

In FIG. 25 , the fifth position 2510 represents the sixth position 2520 and the seventh position 2530 . The controller 200 may create a triangle 2540 at the fifth position 2510 based on the sixth position 2520 and the seventh position 2530 . Also, the controller 200 may obtain a circle 2550 circumscribed by the triangle 2540 .

The circle 2550 may be a position of the robot hand 120 for the photographing unit 320 to photograph the third identification area 1511 . As already described, the position of the robot hand 120 may be the position of the rotation shaft 130 . In addition, the robot arm 100 captures the third identification area 1511 to the photographing unit 320 by setting the rotation angle of the robot hand 120 so that the photographing unit 320 faces the center of the circle 2550 . can be controlled to do so. This may be the same as when the control unit 200 obtains a vector from the rotation shaft 130 to the photographing unit 320 . Specifically, when the rotation shaft 130 is at an arbitrary position on the circle 2550 , the position of the photographing unit 320 for photographing the third identification region 1511 which is the object is the center of the circle from the position of the rotation shaft 130 . It can be expressed as a vector pointing towards .

For example, the robot arm 100 places the robot hand 120 at an arbitrary position 2560 , and the photographing unit 320 measures the rotation angle of the robot hand 120 from the rotation axis in the opposite direction to the x-axis direction. When the position 2561 is directed to face, the photographing unit 320 may photograph the third identification area 1511 .

Also, the center of the rotation axis may be determined in a different manner from that of FIG. 25 . This will be described together with FIG. 28 .

28 is a view for explaining a process of measuring the position of the center of the photographing unit from the center of the rotation shaft according to an embodiment of the present disclosure.

FIG. 28 may be made after the measurement of FIG. 24 . Also, the configuration related to FIG. 28 may be selectively performed after the configuration related to FIG. 24 . The control unit 200 may rotate the robot hand 120 rotated at the first rotation angle, the second rotation angle, or the third rotation angle to the reference rotation angle. The reference rotation angle may be a predetermined rotation angle, for example, may be the same as one of the first rotation angle, the second rotation angle, or the third rotation angle. In FIG. 28 , for convenience of description, a case in which the reference rotation angle is the same as the second rotation angle will be described. When the robot hand 120 is rotated at the reference rotation angle, the control unit 200 may control the photographing unit 320 to keep the photographing target 2840 at the center of the image. More specifically, the control unit 200 rotates the robot hand 120 rotated at the first rotation angle at the second rotation angle while the photographing unit 320 maintains the photographing target 2840 at the center of the image. can Here, the photographing target 2840 may be the third identification area 1511 . However, the present invention is not limited thereto.

After rotating from the first rotation angle to the second rotation angle, the robot hand 120 may be positioned at the position 2810 after the first rotation. After rotating from the third rotation angle to the second rotation angle, the robot hand 120 may be positioned at the position 2830 after the third rotation. The controller 200 may acquire a position 2810 after the first rotation and a position 2830 after the third rotation. In addition, since the reference rotation angle is the second rotation angle, the controller 200 does not need to separately rotate the robot hand 120 rotated at the second rotation angle, and the robot hand 120 is rotated at the second rotation angle. The position of may be obtained as the position 2820 after the second rotation.

The position 2810 after the first rotation to the position 2830 after the third rotation is determined by one of an error in movement of the robot arm 100 , a measurement error, an error of the photographing unit 320 , or a calculation error of the control unit 200 . may be different. The controller 200 may calculate the average of the coordinates of the position 2810 after the first rotation to the position 2830 after the third rotation. The controller 200 may determine the vector 2710 from the rotation axis 130 to the center of the photographing unit 320 by subtracting the average coordinate from the coordinates of the center of the circle of FIG. 25 . The vector 2710 will be described in more detail with reference to FIG. 27 .

27 is a diagram illustrating a vector of a photographing unit and a gripper according to an embodiment of the present disclosure.

As described above, the controller 200 may obtain the position of the photographing unit 320 as a vector 2710 from the rotation shaft 130 to the center of the photographing unit 320 . As already described, since the vector from the reference point of the robot arm 100 to the rotation shaft 130 can be obtained, the control unit 200 based on the vector 2710 controls the photographing unit ( 320) can also be obtained. Therefore, the control unit 200 may determine where the center of the photographing unit 320 is based on the position of the robot hand 120 and the rotation angle of the robot hand 120 .

Referring again to FIG. 25 , although the present disclosure has been described with reference to the third identification region 1511 , the present disclosure is not limited thereto. An object to be photographed by the photographing unit 320 may be located at the center of the circle 2550 . The controller 200 may acquire coordinates from the reference point of the robot arm 100 to the target based on predetermined information or a user input. The controller 200 may position the coordinates of the target at the center of the circle. In addition, the rotation angle of the robot hand 120 can be calculated according to which point on the circle the robot hand 120 is located. Therefore, the control unit 200 may allow the photographing unit 320 to take an image of the target even in a state in which the robot hand 120 is rotated at an arbitrary angle.

As described with reference to FIG. 24 , the controller 200 may perform a step of placing the second teaching jig 1510 coupled to the gripper at an arbitrary position in order to measure the position and alignment direction of the gripper. The position where the teaching jig 1510 is placed on the floor may be the same as the position of the gripper before the robot hand 120 puts the second teaching jig 1510 down on the floor. Also, the direction of the second teaching jig 1510 may be the same as the direction of the gripper before the second teaching jig 1510 is put down on the floor. Accordingly, the controller 200 may indirectly measure the position and direction of the gripper 310 by measuring the position where the second teaching jig 1510 is placed. The position of the gripper 310 may be determined based on the position of the first protrusion and the position of the second protrusion. As already described, the first protrusion may be configured to be coupled to the first identification area 611 of the first teaching jig 610 or the third identification area 1511 of the second teaching jig 1510 . Also, the second protrusion may be configured to be coupled to the second identification area 612 of the first teaching jig 610 or the fourth identification area 1512 of the second teaching jig 1510 .

The controller 200 may store the posture of the robot arm 100 before placing the second teaching jig 1510 on the floor as the first posture. As already described, the posture of the robot arm 100 may include the position of the robot hand 120 and the rotation angle of the robot hand 120 . In addition, the robot arm 100 may rotate or move the robot hand 120 in order to photograph the third identification area 1511 after the second teaching jig 1510 is placed on the floor. The control unit 200 controls the gripper 310 when the robot arm 100 is in the first posture by obtaining the positions of the at least two identification areas included in the second teaching jig 1510 by the photographing unit 320 . location can be obtained.

Referring back to FIG. 24 , the controller 200 may photograph the third identification area 1511 from at least three angles as shown in the figures 2410 to 2430 . In order to photograph the third identification area 1511 from at least three angles, the robot arm 100 may have a posture different from the first posture. As already described, the control unit 200 has already acquired the vector 2710 related to the position of the photographing unit 320, and photographed the third identification area 1511 at three angles in the same way, and three robot hands ( 120) and the rotation angle of the robot hand 120 can be obtained. For example, the positions of the three robot hands 120 may be a fifth position, a sixth position, and a seventh position. Also, the rotation angles of the three robot hands 120 may be a first rotation angle, a second rotation angle, and a third rotation angle. The fifth position may correspond to the first rotation angle. The sixth position may correspond to the second rotation angle. The seventh position may correspond to the third rotation angle.

The controller 200 may determine the position of the first protrusion based on the fifth to seventh positions.

The controller 200 may make the center of the photographing unit 320 coincide with the center of the third identification area 1511 in the same manner as in FIG. 28 based on the fifth to seventh positions. The controller 200 may refer to the posture of the robot arm 100 at this time as a second posture. The controller 200 may store the second posture. The controller 100 may determine the position of the photographing unit 320 in the second posture as the position of the first protrusion in the first posture.

Also, the control unit 200 may acquire the position from the reference point of the robot arm 100 of the third identification area 1511 based on the vector 2710 . In addition, since the third identification area 1511 corresponds to the first projection, the position of the first projection of the gripper 310 when the robot arm 100 is in the first posture is the position of the robot arm ( 100) can correspond to the position from the reference point.

Referring to FIG. 27 , the position of the first protrusion with respect to the rotation shaft 130 may be obtained as a vector 2720 through the above process.

The controller 200 may further perform the following process to obtain the position of the gripper 310 when the robot arm 100 is in the first posture.

26 is a view for explaining a process of measuring a position of a gripper from a center of a rotation shaft according to an embodiment of the present disclosure;

As already described, the controller 200 may further perform the following process in addition to the process described with reference to FIGS. 24 to 25 in order to measure the position of the gripper 310 .

In addition, the controller 200 may essentially perform the step of placing the second teaching jig 1510 at an arbitrary point in order to measure the position of the gripper 310 . As shown in the figure 2410 of FIG. 24 , in a state in which the robot hand 120 is rotated at the first rotation angle, the photographing unit 320 moves the robot arm so that the image of the third identification area 1511 can be acquired. Before performing the step, the control unit 200 may perform a step of placing the second teaching jig 1510 at an arbitrary point. Referring to the figure 2610 of FIG. 26 , the control unit 200 controls the robot hand 120 ) is rotated at the first rotation angle, the photographing unit 320 may perform the step of moving the robot arm so that the image of the fourth identification area 1512 of the second teaching jig 1510 can be acquired. have. Figure 2610 of FIG. 26 shows a state in which the robot hand 120 is rotated at the first rotation angle. For example, if the center of the photographing unit 320 is located in the x-axis direction from the center of the rotation shaft 130 of the robot hand 120, it may be a state rotated at the first rotation angle. The movement of the robot arm 100 may be performed automatically or based on a user's input.

The controller 200 may perform an operation of acquiring an image including the fourth identification region 1512 included in the second teaching jig 1510 using the photographing unit 320 . In addition, the control unit 200 may perform the step of moving the robot arm 100 so that the center of the image acquired by the photographing unit 320 and the center of the fourth identification area 1512 coincide. The step of moving the robot arm 100 so that the center of the image and the center of the fourth identification area 1512 coincide may be similar to step 520 or step 550 . Since step 520 has been described with reference to FIGS. 8 to 10 , a redundant description will be omitted.

The control unit 200 may perform a step of acquiring the position of the robot hand as the eighth position when the center of the image acquired by the photographing unit coincides with the center of the fourth identification area. Here, the eighth position of the robot hand 120 is the robot arm 100 when the center of the image and the center of the fourth identification area 1512 coincide with the robot hand 120 rotated at the first rotation angle. ) may mean the position of the robot hand 120 with respect to the fixed reference point. As already described, the position of the robot hand 120 may mean the position of the center of the rotation shaft 130 with respect to the fixed reference point of the robot arm 100 .

Referring to the figure 2620 of FIG. 26 , in the state in which the control unit 200 rotates the robot hand 120 at the second rotation angle, the photographing unit 320 controls the fourth identification area of the second teaching jig 1510 . The step of moving the robot arm 100 may be performed to obtain the image of 1512 . The figure 2620 of FIG. 26 shows a state in which the robot hand 120 is rotated at the second rotation angle. For example, a state in which the center of the photographing unit 320 is positioned opposite to the y-axis direction from the center of the rotation shaft 130 of the robot hand 120 may be a state rotated at the second rotation angle.

The controller 200 may perform an operation of acquiring an image including the fourth identification region 1512 included in the second teaching jig 1510 using the photographing unit 320 . In addition, the control unit 200 may perform the step of moving the robot arm 100 so that the center of the image acquired by the photographing unit 320 and the center of the fourth identification area 1512 coincide. The step of moving the robot arm 100 so that the center of the image and the center of the fourth identification area 1512 coincide may be similar to step 520 or step 550 . Since step 520 has been described with reference to FIGS. 8 to 10 , a redundant description will be omitted.

The control unit 200 may perform a step of acquiring the position of the robot hand 120 as the ninth position when the center of the image acquired by the photographing unit 320 and the center of the fourth identification area 1512 coincide have. Here, the ninth position of the robot hand 120 is the robot arm 100 when the center of the image and the center of the fourth identification area 1512 coincide with the robot hand 120 rotated at the second rotation angle. ) may mean the position of the robot hand 120 with respect to the fixed reference point. As already described, the position of the robot hand 120 may mean the position of the center of the rotation shaft 130 with respect to the fixed reference point of the robot arm 100 .

Referring to the figure 2630 of FIG. 26 , the control unit 200 controls the robot hand 120 to rotate at the third rotation angle, and the photographing unit captures the fourth identification area 1512 of the second teaching jig 1510 . A step of moving the robot arm 100 may be performed to obtain an image. A figure 2630 of FIG. 26 shows a state in which the robot hand 120 is rotated at a third rotation angle. For example, if the center of the photographing unit 320 is located opposite to the direction of the x-axis from the center of the rotation shaft 130 of the robot hand 120, it may be a state rotated at the third rotation angle.

The controller 200 may perform an operation of acquiring an image including the fourth identification region 1512 included in the second teaching jig 1510 using the photographing unit 320 . In addition, the control unit 200 may perform the step of moving the robot arm 100 so that the center of the image acquired by the photographing unit 320 and the center of the fourth identification area 1512 coincide. The step of moving the robot arm 100 so that the center of the image and the center of the fourth identification area 1512 coincide may be similar to step 520 or step 550 . Since step 520 has been described with reference to FIGS. 8 to 10 , a redundant description will be omitted.

The control unit 200 may perform the step of obtaining the position of the robot hand 120 as the tenth position when the center of the image acquired by the photographing unit 320 and the center of the fourth identification area 1512 coincide have. Here, the tenth position of the robot hand 120 is the robot arm 100 when the center of the image and the center of the fourth identification area 1512 coincide with the robot hand 120 rotated at the third rotation angle. ) may mean the position of the robot hand 120 with respect to the fixed reference point. As already described, the position of the robot hand 120 may mean the position of the center of the rotation shaft 130 with respect to the fixed reference point of the robot arm 100 .

The controller 200 may perform an operation of obtaining an offset of the positions of the first and second protrusions included in the gripper 310 with respect to the rotation axis based on the fifth to tenth positions. In more detail, the controller 200 may acquire an offset of the position of the first protrusion included in the gripper 310 based on the fifth to seventh positions. Also, the controller 200 may obtain an offset of the position of the second protrusion included in the gripper 310 based on the eighth to tenth positions. Here, the offset may mean a vector from the rotation shaft 130 to the first protrusion or the second protrusion. The position of the second protrusion may be obtained similarly to the position of the first protrusion. Since the method of acquiring the position of the first protrusion has already been described, a redundant description will be omitted.

23 to 26 , when the robot arm 100 is in the first posture, the positions of the first and second protrusions of the gripper may be obtained. As already described, the first posture may indicate the position of the robot hand and the rotation angle of the robot hand before the robot arm 100 puts down the second teaching jig 1510 . Also, based on the center of the circle as described with reference to FIG. 25 , the controller 200 may acquire the position of the third identification area 1511 of the second teaching jig 1510 . Also, in the same manner, the controller 200 may acquire the position of the fourth identification area 1512 of the second teaching jig 1510 . Also, the third identification area 1511 corresponds to the position of the first protrusion of the gripper 310 and the fourth identification area 1512 corresponds to the position of the second protrusion. Accordingly, the controller 200 may obtain an offset of the positions of the first and second protrusions included in the gripper 310 with respect to the rotation axis based on the fifth to tenth positions.

The control unit 200 may photograph the fourth identification region 1512 at at least three angles as shown in Figs. 2610 to 2630 . In order to photograph the fourth identification area 1512 from at least three angles, the robot arm 100 may have a posture different from the first posture. As described above, since the control unit 200 has already obtained the vector 2710 related to the position of the photographing unit 320, the three robot hands 120 for photographing the third identification area 1511 at three angles. The position and rotation angle of the robot hand 120 can be obtained. Also, the control unit 200 may acquire the position from the reference point of the robot arm 100 of the fourth identification area 1512 based on the vector 2710 . In addition, since the fourth identification area 1512 corresponds to the second protrusion, the position of the second protrusion of the gripper 310 when the robot arm 100 is in the first posture is the robot arm ( 100) can correspond to the position from the reference point.

Referring to FIG. 27 , the position of the second protrusion with respect to the rotation shaft 130 may be obtained as a vector 2730 through the above process. The controller 200 may acquire the position and direction of the gripper based on the vector 2720 and the vector 2730 . For example, the controller 200 may obtain a difference vector between the vector 2720 and the vector 2730 as the direction of the gripper. Also, the average of the vector 2720 and the vector 2730 may be obtained as the position of the gripper.

Meanwhile, the above-described embodiments of the present invention can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that operates the program using a computer-readable recording medium. The computer-readable recording medium includes a storage medium such as a magnetic storage medium (eg, a ROM, a floppy disk, a hard disk, etc.) and an optically readable medium (eg, a CD-ROM, a DVD, etc.).

So far, various embodiments have been mainly looked at. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention can be implemented in modified forms without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments are to be considered in an illustrative rather than a restrictive sense. The scope of the present invention is indicated in the claims rather than the foregoing description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

Claims (8)

A method of operating a robot arm including a robot hand and a control unit, the method comprising:
The robot hand includes a gripper, a photographing unit, and a rotating shaft,
obtaining, by the control unit, an image including a first identification area included in a first teaching jig at a target position using the photographing unit in a state in which the robot hand is rotated at a reference rotation angle;
moving the robot arm so that the center of the image acquired by the photographing unit coincides with the center of the first identification area;
storing the position of the robot hand as a first position when the center of the image and the center of the first identification area coincide;
acquiring an image including a second identification area included in the first teaching jig at the target position by using the photographing unit;
moving the robot arm so that the center of the image acquired by the photographing unit coincides with the center of the second identification area;
storing the position of the robot hand as a second position when the center of the image and the center of the second identification area coincide;
determining a first vector and a first center point based on the first location and the second location;
determining a target posture of the robot arm when the gripper is positioned at the target position based on the first vector;
controlling the second teaching jig coupled to the gripper to be put down at an arbitrary position;
moving the robot arm so that the photographing unit acquires an image of a third identification area of the second teaching jig while the robot hand is rotated at a reference rotation angle;
obtaining, by the control unit, an image including a third identification area included in the second teaching jig using the photographing unit;
moving the robot arm so that the center of the image acquired by the photographing unit coincides with the center of the third identification area;
storing the position of the robot hand as a third position when the center of the image and the center of the third identification area coincide;
acquiring an image including a fourth identification region included in the second teaching jig by using the photographing unit;
moving the robot arm so that the center of the image acquired by the photographing unit coincides with the center of the fourth identification area;
storing the position of the robot hand as a fourth position when the center of the image and the center of the fourth identification area coincide; and
and determining a second vector and a second center point based on the third position and the fourth position.
delete The method of claim 1,
controlling the gripper to hold the second teaching jig by moving the robot arm when the direction of the first vector does not match the direction of the second vector;
controlling the second teaching jig coupled to the gripper to be placed in a modified position after rotating the robot hand about the rotation axis so that the direction of the second vector coincides with the first vector; and
and acquiring at least one of a modified second vector and a modified second center point based on a second teaching jig at the modified position.
The method of claim 1,
The step of determining the target posture,
determining the current rotation angle of the robot hand as the target rotation angle of the target posture when the direction of the first vector coincides with the direction of the second vector; and
and determining a target position of the target posture based on a difference between the coordinates of the first central point and the coordinates of the second central point.
The method of claim 1,
moving the robot arm so that the photographing unit acquires an image of a third identification area of a second teaching jig at an arbitrary position while the robot hand is rotated at a first rotation angle;
acquiring an image including a third identification region included in the second teaching jig by using the photographing unit;
acquiring the position of the robot hand as a fifth position when the center of the image acquired by the photographing unit coincides with the center of the third identification area;
moving the robot arm so that the photographing unit acquires an image of the third identification area of the second teaching jig while the robot hand is rotated at a second rotation angle;
acquiring an image including a third identification region included in the second teaching jig by using the photographing unit;
acquiring a position of the robot hand as a sixth position when the center of the image acquired by the photographing unit coincides with the center of the third identification area;
moving the robot arm so that the photographing unit acquires an image of the third identification area of the second teaching jig while the robot hand is rotated at a third rotation angle;
acquiring an image including a third identification region included in the second teaching jig by using the photographing unit;
acquiring a position of the robot hand as a seventh position when the center of the image acquired by the photographing unit coincides with the center of the third identification area; and
Based on the fifth to the seventh position, the method of operating a robot arm comprising the step of obtaining an offset of the position of the photographing unit with respect to the rotation axis.
The method of claim 1,
placing a second teaching jig coupled to the gripper at an arbitrary position;
moving the robot arm so that the photographing unit acquires an image of a third identification area of the second teaching jig while the robot hand is rotated at a first rotation angle;
acquiring an image including a third identification region included in the second teaching jig by using the photographing unit;
acquiring the position of the robot hand as a fifth position when the center of the image acquired by the photographing unit coincides with the center of the third identification area;
moving the robot arm so that the photographing unit acquires an image of the third identification area of the second teaching jig while the robot hand is rotated at a second rotation angle;
acquiring an image including a third identification region included in the second teaching jig by using the photographing unit;
acquiring a position of the robot hand as a sixth position when the center of the image acquired by the photographing unit coincides with the center of the third identification area;
moving the robot arm so that the photographing unit acquires an image of the third identification area of the second teaching jig while the robot hand is rotated at a third rotation angle;
acquiring an image including a third identification region included in the second teaching jig by using the photographing unit;
acquiring a position of the robot hand as a seventh position when the center of the image acquired by the photographing unit coincides with the center of the third identification area;
obtaining an offset of a position of a first protrusion included in the gripper with respect to the rotation axis based on the fifth position to the seventh position;
moving the robot arm so that the photographing unit acquires an image of a fourth identification area of the second teaching jig while the robot hand is rotated at a first rotation angle;
acquiring an image including a fourth identification region included in the second teaching jig by using the photographing unit;
acquiring a position of the robot hand as an eighth position when the center of the image acquired by the photographing unit coincides with the center of the fourth identification region;
moving the robot arm so that the photographing unit acquires an image of the fourth identification area of the second teaching jig while the robot hand is rotated at a second rotation angle;
acquiring an image including a fourth identification region included in the second teaching jig by using the photographing unit;
obtaining a position of the robot hand as a ninth position when the center of the image acquired by the photographing unit coincides with the center of the fourth identification area;
moving the robot arm so that the photographing unit acquires an image of the fourth identification area of the second teaching jig while the robot hand is rotated at a third rotation angle;
acquiring an image including a fourth identification region included in the second teaching jig by using the photographing unit;
obtaining a position of the robot hand as a tenth position when the center of the image obtained by the photographing unit coincides with the center of the fourth identification area; and
and acquiring an offset of a position of a second protrusion included in the gripper with respect to the rotation axis based on the eighth position to the tenth position.
7. The method of claim 6,
When the first protrusion is inserted into the third identification area included in the second teaching jig and the second protrusion is inserted into the fourth identification area included in the second teaching jig, the gripper moves to the second teaching jig A method of operating a robot arm capable of picking up a jig or a sample placed on the second teaching jig.
In the robot arm comprising a robot hand and a control unit,
The robot hand includes a gripper, a photographing unit, and a rotating shaft,
The control unit acquires an image including the first identification area included in the first teaching jig at the target position by using the photographing unit in a state in which the robot hand is rotated at a reference rotation angle, and the image obtained by the photographing unit moves the robot arm so that the center of the first identification area coincides with the center of The robot acquires an image including a second identification area included in the first teaching jig at the target position by using a photographing unit, and matches the center of the image acquired by the photographing unit and the center of the second identification area When the arm is moved and the center of the image and the center of the second identification area coincide, the position of the robot hand is stored as a second position, and a first vector is calculated based on the first position and the second position. determining, based on the first vector, a target posture of the robot arm when the gripper is positioned at the target position, and controlling the second teaching jig coupled to the gripper to be placed at an arbitrary position; , in a state in which the robot hand is rotated at a reference rotation angle, the robot arm is moved so that the photographing unit can acquire an image of the third identification area of the second teaching jig, and the control unit uses the photographing unit to Obtaining an image including the third identification area included in the second teaching jig, moving the robot arm so that the center of the image acquired by the photographing unit coincides with the center of the third identification area, the center of the image and When the centers of the third identification region coincide, the position of the robot hand is stored as the third position, and an image including the fourth identification region included in the second teaching jig is obtained by using the photographing unit, The robot arm is moved so that the center of the image acquired by the photographing unit and the center of the fourth identification area coincide, and when the center of the image and the center of the fourth identification area coincide, the robot handle A robot arm that stores the position of the rod as a fourth position, and determines a second vector and a second center point based on the third position and the fourth position.

Images