US 12,030,187 B2
Robot system
Kaimeng Wang, Yamanashi (JP); Wenjie Chen, Yamanashi (JP); and Tetsuaki Kato, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Filed by FANUC CORPORATION, Yamanashi (JP)
Filed on Jul. 5, 2019, as Appl. No. 16/503,865.
Claims priority of application No. 2018-134393 (JP), filed on Jul. 17, 2018.
Prior Publication US 2020/0023518 A1, Jan. 23, 2020
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1653 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A robot system, comprising:
a robot that is disposed at a predetermined position and that includes a movable part, the movable part being operated within a range where there is an obstacle that moves;
a camera that captures an image of an area including the obstacle;
a processor connected to the camera; and
a memory connected to the processor,
wherein the processor is configured to:
before the movable part is operated, detect a position of a feature point of the obstacle from the image captured by the camera, calculate a motion path of the moveable part based on the detected position of the feature point and store the calculated motion path in the memory;
while the movable part is operated along the motion path stored in the memory, cause the camera to capture, at predetermined time intervals, the image and sequentially detect the position of the feature point from the captured image;
in response to newly detecting the position of the feature point, derive a mapping function for displacing a previously detected position of the feature point to the newly detected position of the feature point; and
in response to deriving the mapping function, adjust the motion path stored in the memory using the derived mapping function.