US 12,138,798 B2
Control method for robot system and robot system
Koji Yoshii, Shiojiri (JP)
Assigned to SEIKO EPSON CORPORATION, Tokyo (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Jan. 26, 2022, as Appl. No. 17/584,413.
Claims priority of application No. 2021-011876 (JP), filed on Jan. 28, 2021.
Prior Publication US 2022/0234201 A1, Jul. 28, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 19/02 (2006.01)
CPC B25J 9/1653 (2013.01) [B25J 9/0093 (2013.01); B25J 9/1669 (2013.01); B25J 9/1697 (2013.01); B25J 19/023 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A control method for a robot system including a conveying device configured to convey a target object and a robot configured to perform work while following the target object conveyed by the conveying device, the control method for the robot system comprising: an image acquiring step for imaging, a plurality of times, the target object conveyed by the conveying device and acquiring a plurality of images; a reciprocating displacement information acquiring step for acquiring, based on the plurality of images, reciprocating displacement information indicating periodical reciprocating displacement in a width direction orthogonal to a conveying direction of the target object; and a correcting step for correcting a position command for the robot based on the reciprocating displacement information, wherein the reciprocating displacement information acquiring step includes calculating amplitude and a period of displacement in the width direction of the target object, calculating a conveying track from the calculated amplitude and the calculated period, generating the reciprocating displacement information on basis of the conveying track, and controlling the driving of the robot based on the corrected position.