JP2005262369A5 - - Google Patents
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- JP2005262369A5 JP2005262369A5 JP2004077487A JP2004077487A JP2005262369A5 JP 2005262369 A5 JP2005262369 A5 JP 2005262369A5 JP 2004077487 A JP2004077487 A JP 2004077487A JP 2004077487 A JP2004077487 A JP 2004077487A JP 2005262369 A5 JP2005262369 A5 JP 2005262369A5
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- robot
- coordinate system
- robots
- workpiece
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Claims (4)
前記複数台のロボットの1つをマスタロボットとし、その他のロボットをスレーブロボットとし、
前記ロボット制御装置は、
前記位置検出器の検出結果に基づいて前記搬送手段の座標系上における前記ワークの位置を検出する搬送座標系位置検出部と、
前記マスタロボットの座標系を前記各スレーブロボットの座標系へ変換するスレーブ座標系変換部と、
前記搬送座標系位置検出部で検出された前記ワークの位置を前記マスタロボットの座標系の位置に変換する搬送座標系変換部と、を備え、
前記複数台のロボットを協調動作させ、1つの前記ワークを把持することを特徴とするロボットシステム。 In a robot system comprising transport means for transporting a work, a plurality of robots for gripping the work, a robot controller for controlling the plurality of robots, and a position detector for detecting the position of the transport means,
One of the plurality of robots is a master robot, and the other robots are slave robots.
The robot controller is
A transport coordinate system position detector for detecting the position of the workpiece on the coordinate system of the transport means based on the detection result of the position detector;
A slave coordinate system conversion unit that converts the coordinate system of the master robot into the coordinate system of each slave robot;
A transport coordinate system conversion unit that converts the position of the workpiece detected by the transport coordinate system position detection unit into a coordinate system position of the master robot,
A robot system characterized by cooperatively operating the plurality of robots and gripping one workpiece.
前記複数台のロボットの1つをマスタロボットとし、その他のロボットをスレーブロボットとし、
前記搬送手段にて搬送される前記ワークを撮像するカメラと、
前記カメラにて撮像した撮像画像を画像処理する画像処理装置と、を備え、
前記ロボット制御装置は、
前記ロボットを動作させる作業プログラムを格納するプログラム格納部と、
前記位置検出器の検出結果に基づいて前記搬送手段の座標系上における前記ワークの位置を検出する搬送座標系位置検出部と、
前記画像処理装置の処理結果に基づいて前記カメラにて撮像した時の前記ワークの位置及び前記ワークの品種情報を算出する品種判別部と、
前記品種判別部と前記搬送座標系位置検出部との算出結果から搬送座標系上の前記ワークの位置を検出するワーク位置検出部と、
前記ワーク位置検出部で検出された前記ワークの位置を前記マスタロボットの座標系の位置に変換する搬送座標系変換部と、
前記品種判別部の出力である前記品種情報に基づいて、前記プログラム格納部に格納された前記作業プログラムを読み出して、前記複数台のロボットの動作制御を行う系列動作制御部と、を備えることを特徴とするロボットシステム。 In a robot system comprising transport means for transporting a work, a plurality of robots for gripping the work, a robot controller for controlling the plurality of robots, and a position detector for detecting the position of the transport means,
One of the plurality of robots is a master robot, and the other robots are slave robots.
A camera that images the workpiece conveyed by the conveying means;
An image processing device that performs image processing on a captured image captured by the camera,
The robot controller is
A program storage unit for storing a work program for operating the robot ;
A transport coordinate system position detector for detecting the position of the workpiece on the coordinate system of the transport means based on the detection result of the position detector;
A type discriminating unit for calculating the position of the workpiece and the type information of the workpiece when imaged by the camera based on the processing result of the image processing apparatus;
A workpiece position detection unit that detects the position of the workpiece on the transfer coordinate system from the calculation results of the product type determination unit and the transfer coordinate system position detection unit;
A transport coordinate system conversion unit that converts the position of the work detected by the work position detection unit into a position of the coordinate system of the master robot;
Based on the breed information which is the output of the varieties determination unit reads the work program stored in the program storage unit, in that it comprises a sequence operation control unit for controlling the operation of said plurality of robots Characteristic robot system.
前記系列動作制御部は、前記品種情報が前記複数台のロボットによる同一種類のワークに対して、各ロボットが独立して操作する品種の場合には、前記独立指令演算部へ前記搬送座標系変換部の結果を出力することを特徴とする請求項2記載のロボットシステム。 And a separate calculation unit that converts the position of the master robot coordinate system of the workpiece calculated by the conveyor coordinate system converter to a position in the coordinate system of the slave robot,
The series operation control unit converts the conveyance coordinate system to the independent command calculation unit when the type information is a type that each robot independently operates on the same type of work by the plurality of robots. The robot system according to claim 2, wherein the result of the unit is output.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004077487A JP2005262369A (en) | 2004-03-18 | 2004-03-18 | Robot system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004077487A JP2005262369A (en) | 2004-03-18 | 2004-03-18 | Robot system |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005262369A JP2005262369A (en) | 2005-09-29 |
JP2005262369A5 true JP2005262369A5 (en) | 2007-04-12 |
Family
ID=35087436
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004077487A Pending JP2005262369A (en) | 2004-03-18 | 2004-03-18 | Robot system |
Country Status (1)
Country | Link |
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JP (1) | JP2005262369A (en) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ATE465851T1 (en) * | 2006-12-19 | 2010-05-15 | Abb Research Ltd | METHOD AND DEVICE FOR HANDLING PARTS |
JP2011108044A (en) | 2009-11-18 | 2011-06-02 | Fanuc Ltd | Robot controller which simultaneously controls n robots |
EP2420359A4 (en) | 2010-02-03 | 2013-04-17 | Panasonic Corp | Robot system control method |
JP5316563B2 (en) * | 2011-02-15 | 2013-10-16 | オムロン株式会社 | Image processing apparatus and image processing system |
WO2013042185A1 (en) * | 2011-09-20 | 2013-03-28 | 株式会社安川電機 | Handling system |
WO2013185834A1 (en) * | 2012-06-15 | 2013-12-19 | Abb Technology Ag | Stacking line system and method for stacking blanks outputted from a blanking shear or press |
JP5774223B2 (en) | 2012-06-29 | 2015-09-09 | 三菱電機株式会社 | Robot control apparatus and robot control method |
JP5633555B2 (en) * | 2012-11-13 | 2014-12-03 | 株式会社安川電機 | Robot system |
JP5768829B2 (en) * | 2013-03-15 | 2015-08-26 | 株式会社安川電機 | Robot system, robot control method, and workpiece manufacturing method |
JP6010776B2 (en) * | 2013-03-19 | 2016-10-19 | パナソニックIpマネジメント株式会社 | Robot system control method and robot system |
JP2013233650A (en) * | 2013-07-12 | 2013-11-21 | Yaskawa Electric Corp | Robot system |
JP6407826B2 (en) | 2015-09-03 | 2018-10-17 | ファナック株式会社 | Coordinate system setting method, coordinate system setting device, and robot system provided with coordinate system setting device |
JP6484213B2 (en) | 2016-12-09 | 2019-03-13 | ファナック株式会社 | Robot system including a plurality of robots, robot control apparatus, and robot control method |
JP6811635B2 (en) * | 2017-02-10 | 2021-01-13 | 川崎重工業株式会社 | Robot system and its control method |
CN110621447B (en) * | 2017-05-22 | 2022-11-11 | Abb瑞士股份有限公司 | Robot conveyor calibration method, robot system and control system |
JP6954193B2 (en) * | 2018-03-12 | 2021-10-27 | オムロン株式会社 | Controls, control methods, and programs |
JP7095417B2 (en) * | 2018-06-06 | 2022-07-05 | オムロン株式会社 | Control system, control system control method, and control system program |
JP7135733B2 (en) * | 2018-10-31 | 2022-09-13 | 株式会社ダイフク | Goods transfer equipment |
JP7336711B2 (en) * | 2019-06-14 | 2023-09-01 | パナソニックIpマネジメント株式会社 | repair welding system |
CN113910269B (en) * | 2021-10-27 | 2022-12-20 | 因格(苏州)智能技术有限公司 | Robot master control system |
-
2004
- 2004-03-18 JP JP2004077487A patent/JP2005262369A/en active Pending
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