US 12,304,078 B2
Robot control system, control program, and control method
Takafumi Okura, Kyoto (JP); Masahiko Nakano, Kyoto (JP); and Kei Yasuda, Kyoto (JP)
Assigned to OMRON CORPORATION, Kyoto (JP)
Appl. No. 17/928,552
Filed by OMRON CORPORATION, Kyoto (JP)
PCT Filed Mar. 5, 2021, PCT No. PCT/JP2021/008678
§ 371(c)(1), (2) Date Nov. 29, 2022,
PCT Pub. No. WO2021/261025, PCT Pub. Date Dec. 30, 2021.
Claims priority of application No. 2020-109514 (JP), filed on Jun. 25, 2020.
Prior Publication US 2023/0211505 A1, Jul. 6, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01)
CPC B25J 9/1641 (2013.01) [B25J 9/1653 (2013.01); B25J 9/1697 (2013.01); B25J 19/023 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A robot control system comprising:
a robot on which a camera and a hand for gripping a first workpiece are mounted;
a displacement generation mechanism disposed between a tip of the robot and the camera; and
one or more controllers configured to:
provide the robot with a control instruction for causing the first workpiece to approach a second workpiece;
calculate a moving speed of the first workpiece based on an image captured by the camera;
calculate a previous position of the first workpiece based on the calculated moving speed of the first workpiece;
calculate a magnitude of vibration caused in the camera when the robot causes the first workpiece to approach the second workpiece, based on the calculated previous position and a current position of the first workpiece; and
provide the displacement generation mechanism with a control instruction for compensating for the calculated magnitude of vibration.