US 11,780,091 B2
Robot control system and robot control method
Akira Kono, Tokyo (JP); Takuya Goto, Tokyo (JP); Takeshi Yamada, Tokyo (JP); Katsumi Nakamura, Tokyo (JP); Kazuto Nakamura, Tokyo (JP); Kenichi Tsuruda, Tokyo (JP); and Takahiro Inagaki, Tokyo (JP)
Assigned to MITSUBISHI HEAVY INDUSTRIES, LTD., Tokyo (JP)
Appl. No. 16/304,976
Filed by MITSUBISHI HEAVY INDUSTRIES, LTD., Tokyo (JP)
PCT Filed Jun. 8, 2017, PCT No. PCT/JP2017/021248
§ 371(c)(1), (2) Date Nov. 27, 2018,
PCT Pub. No. WO2017/221717, PCT Pub. Date Dec. 28, 2017.
Claims priority of application No. 2016-121681 (JP), filed on Jun. 20, 2016.
Prior Publication US 2020/0171665 A1, Jun. 4, 2020
Int. Cl. B25J 9/16 (2006.01); G05D 1/02 (2020.01)
CPC B25J 9/1687 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); G05D 1/0251 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A robot control system comprising:
a robot hand configured to grasp a component;
an imaging unit arranged to be spaced apart from the robot hand and configured to image the component grasped by the robot hand;
a calculation unit configured to calculate, based on an imaging result of the component imaged by the imaging unit, a position of the component or an inclination of the component;
a robot control unit configured to control the robot hand;
a first reflector installed in the robot hand;
a second reflector installed in the imaging unit; and
a laser tracker configured to irradiate laser light to the first reflector and the second reflector, receive laser light reflected by the first reflector and the second reflector, acquire a 3-dimensional position and an inclination of the first reflector and the second reflector, and detect a position or an inclination of the robot hand and a position or an inclination of the imaging unit,
wherein the robot control unit is configured to:
move the robot hand grasping the component to an imaging range of the imaging unit,
adjust the position and the inclination of the robot hand so that the robot hand is inclined with respect to the imaging unit at a predetermined inclination at a fixed imaging position, based on each 3-dimensional position information of the first reflector and the second reflector detected by the laser tracker,
then, acquire a shift amount of the component with respect to a reference position and a reference inclination of the component, by using a calculation result of the calculation unit based on the imaging result of the component imaged by the imaging unit at the fixed imaging position, and
move the component to a member on which the component is to be arranged, with the robot hand whose position and inclination are adjusted based on the acquired shift amount of the component.