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1. 发明公开

EP3338969A2 CONTROL APPARATUS, ROBOT AND ROBOT SYSTEM 审中-公开
公开(公告)号：EP3338969A2
公开(公告)日：2018-06-27
申请号：EP17208899.9
申请日：2017-12-20
申请人： Seiko Epson Corporation
发明人： ISHIGE, Taro , AISO, Seiji , SETSUDA, Nobuyuki , RUPERT, Alan , MATSUURA, Kenji
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1671 , B25J9/1697 , B25J19/023 , G05B2219/39057 , Y10S901/47
摘要： [Task] A control apparatus, a robot and a robot system to which settings for calibration can be easily and appropriately made are to be provided.
[Solution] A control apparatus that can control driving of a robot, an imaging unit and a display unit based on input of an input unit, includes a display control unit that allows the display unit to display an input window for inputting a robot as an object to be controlled, and allows the display unit to display an imaging unit input part that guides input of an attachment position of the imaging unit corresponding to the input robot, and a calibration control unit that performs a calibration of correlating a coordinate system of the robot and a coordinate system of the imaging unit based on the input attachment position of the imaging unit.

2. 发明公开

EP3338969A3 CONTROL APPARATUS, ROBOT AND ROBOT SYSTEM 审中-公开
公开(公告)号：EP3338969A3
公开(公告)日：2018-07-25
申请号：EP17208899.9
申请日：2017-12-20
申请人： Seiko Epson Corporation
发明人： ISHIGE, Taro , AISO, Seiji , SETSUDA, Nobuyuki , RUPERT, Alan , MATSUURA, Kenji
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1671 , B25J9/1697 , B25J19/023 , G05B2219/39057 , Y10S901/47
摘要： [Task] A control apparatus, a robot and a robot system to which settings for calibration can be easily and appropriately made are to be provided.
[Solution] A control apparatus that can control driving of a robot, an imaging unit and a display unit based on input of an input unit, includes a display control unit that allows the display unit to display an input window for inputting a robot as an object to be controlled, and allows the display unit to display an imaging unit input part that guides input of an attachment position of the imaging unit corresponding to the input robot, and a calibration control unit that performs a calibration of correlating a coordinate system of the robot and a coordinate system of the imaging unit based on the input attachment position of the imaging unit.

3. 发明公开

EP4286107A1 CALIBRATION METHOD AND ROBOT SYSTEM 审中-实审
公开(公告)号：EP4286107A1
公开(公告)日：2023-12-06
申请号：EP23173497.1
申请日：2023-05-15
申请人： Seiko Epson Corporation
发明人： TSUKAMOTO, Kentaro , MATSUURA, Kenji
IPC分类号： B25J9/16
摘要： A method for performing calibration between a robot coordinate system and a camera coordinate system includes achieving a first state in which a criterion point at a predetermined surface is located at the center of an image captured with a camera, achieving a second state in which the camera is rotated by a first angle of rotation around a first imaginary axis perpendicular to the predetermined surface and passing through a control point at the arm, achieving a third state in which the criterion point is located at the center of the image captured with the camera, deriving a reference point that is a provisional position of the criterion point based on information on the first and third states and the first angle of rotation, achieving a fourth state in which the camera is rotated by a second angle of rotation around a second imaginary axis perpendicular to the predetermined surface and passing through the reference point, achieving a fifth state in which the criterion point is located at the center of the image captured with the camera, deriving the position of the criterion point from the information on the first and fifth states and the first and second angles of rotation, or the information on the third and fifth states and the second angle of rotation, and performing the calibration between the robot coordinate system and the camera coordinate system based on the derived position of the criterion point.

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