Vision-guided alignment system and method

A vision-guided alignment system to align a plurality of components includes a robotic gripper configured to move one component relative to another component and a camera coupled to a processor that generates an image of the components. A simulated robotic work cell generated by the processor calculates initial calibration positions that define the movement of the robotic gripper such that position errors between the actual position of the robotic gripper and the calibration positions are compensated by a camera space manipulation based control algorithm executed by the processor to control the robotic gripper to move one component into alignment with another component based on the image of the components.

Characterising robot environments

A method for characterising the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.

Information processing method, apparatus, and computer readable medium

An apparatus executes movement control that causes a robot arm equipped with a camera to move up to an object, thereby enabling a manipulator to move to an object quickly, accurately, and stably as a control system. Specifically, when the object is not detected, the apparatus executes teaching playback control to cause a manipulator to move along a path up to a target position set in advance based on a position of the object. When the object is detected, the apparatus defines a position closer to the object than the target position as a new target position, sets a new path up to the new target position, executes teaching playback control to cause the manipulator to move along the new path until a switching condition for switching the movement control is fulfilled. When the switching condition is fulfilled, the apparatus executes visual servo control.

VISION-BASED SENSOR SYSTEM AND CONTROL METHOD FOR ROBOT ARMS

A method for determining the joint positions of a kinematic chain uses only an imaging sensor and a computing unit. Characteristic features on the links and joints of the kinematic chain are identified and the joint positions are calculated from these visual measurements. The robot can be controlled without the use of joint encoders. A sensor system for monitoring the status of a kinematic chain includes a computing unit and an imaging sensor. The imaging sensor may be mounted to the kinematic chain or in the surroundings of the kinematic chain and monitors the kinematic chain and/or the surroundings of the kinematic chain. The computing unit determines a pose and/or movement parameters of at least one element of the kinematic chain by analyzing an output signal of the imaging sensor, in particular by analyzing characteristic features and determines a rotational joint position by analyzing the characteristic features. 110011511. A sensor system () for monitoring a status of a kinematic chain () having elements comprising links () and joints () , the sensor system comprising:{'b': '5', 'a computing unit (),'}{'b': 4', '41', '42', '5, 'at least one imaging sensor (, , ) operably connected to the computing unit (),'}{'b': 4', '41', '42', '1', '1', '1', '1, 'wherein the at least one imaging sensor (, , ) is adapted to be mounted to the kinematic chain () or to be mounted in the surroundings of the kinematic chain (), and is further adapted for monitoring at least a part of the kinematic chain () and/or the surroundings of the kinematic chain (),'}{'b': 5', '1', '3', '31', '32', '33', '38', '39', '4', '41', '42', '15', '11', '5', '11, 'and wherein the computing unit () is adapted to determine a pose and/or movement parameters of at least one element of the kinematic chain () by analyzing characteristic features (, , , , , ) in an output signal of the at least one imaging sensor (, , ), wherein the characteristic features are provided on at least one link (), at at least ...

Dish Manipulation Systems And Methods

Example dish manipulation systems and methods are described. In one implementation, a robotic actuator includes at least one magnet. The robotic actuator is configured to manipulate, using magnetic attraction, an article of magnetic dishware. A processing system electrically coupled to the robotic actuator is configured to generate commands for positioning the robotic actuator in three-dimensional space.

Robot control device

A robot control device includes a feature-point detecting unit that detects, from an image of an object acquired by a visual sensor, the positions of a plurality of feature points on the object in a predetermined cycle; a position/orientation calculating unit that updates, in the predetermined cycle, respective equations of motion of the plurality of feature points on the basis of the detected positions of the plurality of feature points and that calculates the position or orientation of the object on the basis of the detected positions of the plurality of feature points calculated from the updated equations of motion; and a robot-arm-movement control unit that controls the movement of a robot arm so as to follow the object, on the basis of the calculated position or orientation of the object.

Enhanced system and method for control of robotic devices

A point cloud system having two separate sets of points, each of these sets having different points of view, creating data with potentially occluded points in the point cloud. An accelerated approach of close sister points is used to determine which occluded points can be removed by looking out from an assumed non-occluded point, then finding the closest point in the next set of points, then looking back into the first set of points, or jumping to the closest not occluded point and looking back, and if this second sister is close to initial point, it is a close sister.

Object Pickup Strategies for a Robotic Device

Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location. 1. A method comprising:determining two or more potential grasp points on a physical object corresponding to points at which a gripper attached to a robotic manipulator is operable to grip the physical object;determining a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object;selecting, based on the determined motion path, a first grasp point on the physical object from among the two or more potential grasp points; andproviding instructions to cause the robotic manipulator to grip the physical object at the selected first grasp point on the physical object with the gripper and move the physical object through the determined motion path to the drop-off location.2. The method of claim 1 , further comprising:receiving at least one sensor scan of the physical object, wherein determining the two or more potential grasp points on the physical object is based at least in part on the at least one sensor scan of the physical object.3. The method of claim 1 , wherein ...

Determining a Virtual Representation of an Environment By Projecting Texture Patterns

Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.

VIEWPOINT INVARIANT VISUAL SERVOING OF ROBOT END EFFECTOR USING RECURRENT NEURAL NETWORK

Training and/or using a recurrent neural network model for visual servoing of an end effector of a robot. In visual servoing, the model can be utilized to generate, at each of a plurality of time steps, an action prediction that represents a prediction of how the end effector should be moved to cause the end effector to move toward a target object. The model can be viewpoint invariant in that it can be utilized across a variety of robots having vision components at a variety of viewpoints and/or can be utilized for a single robot even when a viewpoint, of a vision component of the robot, is drastically altered. Moreover, the model can be trained based on a large quantity of simulated data that is based on simulator(s) performing simulated episode(s) in view of the model. One or more portions of the model can be further trained based on a relatively smaller quantity of real training data. 1. A method of servoing an end effector of a robot , comprising:determining a query image, the query image capturing a target object to be interacted with by an end effector of the robot;generating an action prediction based on processing the query image, a scene image, and a previous action representation using a neural network model, wherein the scene image is captured by a vision component associated with the robot and captures the target object and the end effector of the robot, and wherein the neural network model includes one or more recurrent layers each including a plurality of memory units;controlling the end effector of the robot based on the action prediction;generating an additional action prediction immediately subsequent to generating the action prediction, the immediately subsequent action prediction generated based on processing the query image, an additional scene image, and the action prediction using the neural network model, wherein the additional scene image is captured by the vision component after controlling the end effector based on the action prediction and ...

CONTROL OF A ROBOT ASSEMBLY

A method for the control of a robot assembly having at least one robot. The method includes acquiring pose data from an object arrangement having at least one object, which data has a first time interval; determining modified pose data from the object arrangement, which data has a second time interval that is larger or smaller than the first time interval, or is equal to the first time interval, on the basis of the acquired pose data; and controlling the robot assembly on the basis of said modified pose data. 114-. (canceled)15. A method for the control of a robot assembly having at least one robot , the method comprising:detecting with a first sensor, first pose data an object arrangement having at least one object, the first pose data comprising a first time interval;determining first modified pose data of the object arrangement on the basis of the first detected pose data, the first modified pose data comprising a second time interval that is less than or greater than the first time interval, or equal to the first time interval; andcontrolling the robot assembly on the basis of the first modified pose data.16. The method of claim 15 , further comprising:detecting second pose data of the object arrangement, the second pose data comprising a third time interval that is chronologically parallel to the detection of the first pose data,determining second modified pose data of the object arrangement on the basis of the second detected pose data, the second modified pose data comprising a fourth time interval that is less than or greater than the third time interval, or equal to the third time interval; andcontrolling the robot assembly on the basis of the second modified pose data.17. The method of claim 16 , wherein detecting the second pose data comprises detecting the second pose data with a second sensor.18. The method of claim 16 , wherein at least one of the detected or modified first pose data and/or at least one of the detected or modified second pose data ...

WORK-IMPLEMENT EXTERNAL-SHAPE MEASUREMENT SYSTEM, WORK-IMPLEMENT EXTERNAL-SHAPE DISPLAY SYSTEM, WORK-IMPLEMENT CONTROL SYSTEM AND WORK MACHINE

A measurement controller (): computes the position of a plane (S) representing a side surface of a work implement (A) in an image-capturing-device coordinate system (Co) on the basis of an image of the side surface of the work implement captured by an image-capturing device () and an internal parameter of the image-capturing device; computes the coordinate values of a point on the work implement in the image-capturing-device coordinate system (Co), the point corresponding to any pixel constituting the work implement on the captured image, on the basis of positional information on the pixel on the captured image and the position of the plane (S); and converts the coordinate values of the point on the work implement in the image-capturing-device coordinate system, the point corresponding to the pixel, to coordinate values in a work-implement coordinate system (Co) to output the coordinate values in the work-implement coordinate system (Co) to a work-machine controller () of a hydraulic excavator (). 1. A work-implement external-shape measurement system including a measurement controller that measures an external shape of a work implement provided to a work machine , the work-implement external-shape measurement system comprising:an image-capturing device that captures an image of a side surface of the work implement, wherein compute a position of a plane representing the side surface of the work implement in an image-capturing-device coordinate system that is a three-dimensional coordinate system set for the image-capturing device, the position being computed on a basis of the image of the side surface of the work implement, the image being captured by the image-capturing device, and an internal parameter of the image-capturing device,', 'compute a coordinate value of a point on the work implement in the image-capturing-device coordinate system, the point corresponding to any pixel constituting the work implement on the image, on a basis of information on a position ...

METHOD AND MEANS FOR HANDLING AN OBJECT

A method for handling an object comprises the steps: 1. Method for handling an object comprising the steps:{'b': 1', '5, 'a) mechanically connecting the object which is to be handled () with a manipulator (),'}{'b': 1', '7', '7, 'b) mechanically connecting the object which is to be handled () with an input tool () by means of which a direction ({right arrow over (d)}′) within an internal coordinate system (K′) relating to the input tool () can be entered in any desired orientation in which the relation between the internal coordinate system (K′) and an external coordinate system (K) is unknown,'}{'b': 3', '5', '6, 'e) initiating (S) a test movement of the manipulator () by a control unit () on the basis of a direction ({right arrow over (r)}) known in the external coordinate system (K);'}{'b': 5', '7', '5, 'f) determining (S), in the internal coordinate system (K′), the direction ({right arrow over (r)}′) of a movement of the input tool () resulting from the test movement of the manipulator ();'}{'b': 6', '13, 'g) determining (S; S), on the basis of the known direction ({right arrow over (r)}) of the test movement and the direction of the resulting movement ({right arrow over (r)}′), a coordinate transformation (T) which transforms the direction of the resulting movement ({right arrow over (r)}′) in the internal coordinate system (K′) into the known direction ({right arrow over (r)}) in the external coordinate system (K);'}{'b': 7', '7, 'h) detecting (S), within the internal coordinate system (K), an internal direction ({right arrow over (d)}′) entered by a user using the input tool ();'}{'b': '8', 'i) applying (S) the coordinate transformation (T) to the detected internal direction ({right arrow over (d)}′) in order to obtain an external direction ({right arrow over (d)}); and'}{'b': 9', '5, 'j) controlling (S) a movement of the manipulator () on the basis of the external direction ({right arrow over (d)}).'}25. The method according to claim 1 , in which the ...

ROBOT, ROBOT SYSTEM, AND METHOD FOR SETTING COORDINATE SYSTEM OF ROBOT

A robot includes a robot control unit configured to control an operation of a robot, wherein the robot control unit is configured to set a coordinate system of the robot installed on a reference flat surface using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface on which the robot is installed and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot. 1. A robot installed on a reference flat surface , the robot comprising a robot control unit configured to control an operation of the robot ,wherein the robot control unit is configured to set a coordinate system of the robot, installed on the reference flat surface, using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot.2. The robot according to claim 1 , wherein the robot control unit is configured to receive the position coordinates on the reference flat surface and the position coordinates of the reference reflection portions from a position measuring apparatus which uses a laser beam claim 1 , and is configured to set the coordinate system using the received position coordinates.3. The robot according to claim 1 , wherein the reference flat surface is a flat surface which has a guaranteed flatness.4. A robot system comprising:a robot installed on a reference flat surface; anda robot control unit configured to control an operation of the robot, whereinthe robot control unit is configured to set a coordinate system of the robot, installed on the reference flat surface, using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface and ...

INTEGRATED ROBOTIC SYSTEM AND METHOD FOR AUTONOMOUS VEHICLE MAINTENANCE

A robotic system includes a controller configured to obtain image data from one or more optical sensors and to determine one or more of a location and/or pose of a vehicle component based on the image data. The controller also is configured to determine a model of an external environment of the robotic system based on the image data and to determine tasks to be performed by components of the robotic system to perform maintenance on the vehicle component. The controller also is configured to assign the tasks to the components of the robotic system and to communicate control signals to the components of the robotic system to autonomously control the robotic system to perform the maintenance on the vehicle component. 1. A robotic system comprising:a controller configured to obtain image data from one or more sensors, the controller also configured to determine a location or and a pose of a rail vehicle component based on the image data and to determine a model of an external environment of the robotic system based on the image data, the controller also configured to determine tasks to be performed by components of the robotic system to perform maintenance on the rail vehicle component and to assign the tasks to the components of the robotic system, wherein the controller also is configured to communicate control signals to the components of the robotic system to autonomously control the robotic system to perform the maintenance on the rail vehicle component;a propulsion system that moves the robotic system based on the control signals; anda manipulator arm configured to actuate the rail vehicle component based on the control signals;wherein the model of the external environment of the robotic system provides locations of objects external to the robotic system relative to the robotic system, grades off a surface on which the robotic system is traveling, and obstructions in the moving path of the robotic system; andwherein the model of the external environment of the ...

SYSTEMS AND METHODS FOR CONTROL OF ROBOTIC MANIPULATION

A robot system and method are provided that move an articulable arm relative to a target object. Perception information corresponding to a position of the arm relative to the target object is acquired. Movement of the arm is controlled based on the perception information. After movement of the arm, predicted position information representative of a predicted positioning of the arm is provided using the perception information and control signal information. The arm is subsequently controlled using the predicted position information. 1. A robot system configured to manipulate a target object , the robot system comprising:an arm configured to move relative to the target object;a perception acquisition unit configured to acquire perception information corresponding to a position of the arm relative to the target object; and control movement of the arm based on the perception information,', 'after movement of the arm, provide predicted position information representative of a predicted positioning of the arm using the perception information and control signal information, and', 'subsequently control the arm using the predicted position information., 'at least one processor configured to be operably coupled to the arm and the perception acquisition unit, the at least one processor configured to2. The robot system of claim 1 , wherein the at least one processor is configured to control the arm using the predicted position information for a first interval corresponding to a control rate at which the arm is controlled claim 1 , and to control the arm using the perception information for a second interval corresponding to an acquisition rate at which the perception information is obtained claim 1 , wherein the control rate is at least one of faster than or unsynchronized with the perception information.3. The robot system of claim 2 , wherein the at least one processor is configured to control the arm over a series of plural first intervals during at least one second interval ...

Techniques for detecting errors or loss of accuracy in a surgical robotic system

Systems and methods for operating a robotic surgical system are provided. The system includes a surgical tool, a manipulator comprising a base supporting links for controlling the tool, a navigation system comprising a tracker coupled to the tool and a localizer to monitor a state of the tracker. A controller acquires raw kinematic measurement data about a state of the tool relative to the base from the manipulator, known relationship data about the state of the tracker relative to the tool, and raw navigation data about the state of the tracker relative to the localizer from the navigation system. The controller combines this data to determine a raw relationship between the base and the localizer. The raw relationship is filtered for controlling the manipulator. The raw relationship or a less filtered version of the raw relationship is utilized to determine whether an error has occurred in the system.

ROBOT SYSTEM AND PRODUCTION SYSTEM

A robot system includes an image pickup apparatus that picks up images of a plurality of kinds of articles conveyed by a conveyor; an article controlling portion that controls time and a position of each of the plurality of kinds of articles being supplied onto the conveyor, to limit kinds of articles to be image-picked-up by the image pickup apparatus in advance; a detecting portion that detects the plurality of kinds of articles from among images picked up by the image pickup apparatus, on the basis of the kinds of articles limited in advance by the article controlling portion; and a robot that is configured to take out the plurality of kinds of articles detected by the detecting portion from the conveyor. 1. A robot system comprising:an image pickup apparatus that picks up images of a plurality of kinds of articles conveyed by a conveyor;an article controlling portion that controls time and a position of each of the plurality of kinds of articles being supplied onto the conveyor to limit kinds of articles to be image-picked-up by the image pickup apparatus in advance;a detecting portion that detects the plurality of kinds of articles from the images picked up by the image pickup apparatus, on the basis of the kinds of articles limited in advance by the article controlling portion; anda robot that is configured to take out the kinds of articles detected by the detecting portion from the conveyor.2. The robot system according to claim 1 , wherein the robot conveys each of the plurality of kinds of articles taken out from the conveyor to a corresponding dispensing device among a plurality of dispensing devices prepared for the plurality of kinds of articles claim 1 , respectively.3. The robot system according to claim 1 , wherein the article controlling portion controls the time and the position of each of the plurality of kinds of articles being supplied onto the conveyor so that mutually different kinds of articles among the plurality of kinds of articles are not ...

Image Processing Apparatus, Image Processing System, Image Processing Method, And Computer Program

There is provided an image processing apparatus, which are capable of controlling a motion of a robot with high accuracy without coding a complex robot motion control program point by point. First coordinate values being each of position coordinates of movement destinations of an end effector of a robot are acquired. Second coordinate values being position coordinates of a target are detected based on an image of the target captured at each of the movement destinations. Selections of a plurality of operations which a robot controller is made to execute are accepted out of a plurality of operations including at least an operation of moving the end effector to the first coordinate values or an operation of moving the end effector to the second coordinate values, to accept a setting of an execution sequence of the plurality of operations the selections of which have been accepted.

Integrated robotic system and method for autonomous vehicle maintenance

A robotic system includes a controller configured to obtain image data from one or more optical sensors and to determine one or more of a location and/or pose of a vehicle component based on the image data. The controller also is configured to determine a model of an external environment of the robotic system based on the image data and to determine tasks to be performed by components of the robotic system to perform maintenance on the vehicle component. The controller also is configured to assign the tasks to the components of the robotic system and to communicate control signals to the components of the robotic system to autonomously control the robotic system to perform the maintenance on the vehicle component.

IMAGE-BASED TRAJECTORY ROBOT PROGRAMMING PLANNING APPROACH

A method of programming at least one robot by demonstration comprising: performing at least one demonstration of at least one task in the Held of view of at least one fixed camera to obtain at least one observed task trajectory of at least one manipulated object, preferably at least one set of observed task trajectories; generating a generalized task trajectory from said at least one observed task trajectory, preferably from said at least one set of observed task trajectories; and executing said at least one task by said at least one robot in the field of view of said at least one fixed camera, preferably using image-based visual servoing to minimize the difference between the executed trajectory during said execution and the generalized task trajectory. 1. A method of programming at least one robot by demonstration comprising:performing at least one demonstration of at least one task in the field of view of at least one fixed camera to obtain at least one observed task trajectory of at least one manipulated object, preferably at least one set of observed task trajectories;generating a generalized task trajectory from said at least one observed task trajectory, preferably from said at least one set of observed task trajectories; andexecuting said at least one task by said at least one robot in the field of view of said at least one fixed camera, preferably using image-based visual servoing to minimize the difference between the executed trajectory during said execution and the generalized task trajectory.2. The method of claim 1 , whereas Cartesian positions and velocities of said at least one manipulated object are calculated from image measurements from said observed task trajectories.3. The method of claim 2 , whereas said image-based visual servoing comprises following Cartesian positions and velocities of said at least one manipulated object by minimizing the difference between the observed trajectory during task execution and the generalized task trajectory.4. ...

Techniques For Detecting Errors Or Loss Of Accuracy In A Surgical Robotic System

Systems and methods for operating a robotic surgical system are provided. The system includes a surgical tool, a manipulator comprising links for controlling the tool, a navigation system includes a tracker and a localizer to monitor a state of the tracker. Controller(s) determine a relationship between one or more components of the manipulator and one or more components of the navigation system by utilizing kinematic measurement data from the manipulator and navigation data from the navigation system. The controller(s) utilize the relationship to determine whether an error has occurred relating to at least one of the manipulator and the navigation system. The error is at least one of undesired movement of the manipulator, undesired movement of the localizer, failure of any one or more components of the manipulator or the localizer, and/or improper calibration data. 1. A robotic surgical system comprising:a surgical tool;a manipulator comprising a plurality of links and being configured to support the surgical tool;a navigation system comprising a tracker and a localizer being configured to monitor a state of the tracker; and determine a relationship between one or more components of the manipulator and one or more components of the navigation system by being configured to utilize kinematic measurement data from the manipulator and navigation data from the navigation system; and', 'utilize the relationship to determine whether an error has occurred relating to at least one of the manipulator and the navigation system, wherein the error is defined as at least one of:', 'undesired movement of the manipulator;', 'undesired movement of the localizer;', 'failure of any one or more components of the manipulator or the localizer; and', 'improper calibration data., 'one or more controllers coupled to the manipulator and the navigation system and being configured to2. The robotic surgical system of claim 1 , wherein the one or more controllers are configured to filter the ...

Techniques For Detecting Errors Or Loss Of Accuracy In A Surgical Robotic System

Systems and methods for operating a robotic surgical system are provided. The system includes a surgical tool, a manipulator comprising links for controlling the tool, a navigation system comprising a tracker coupled to the manipulator or the tool and a localizer to monitor a state of the tracker. Controller(s) determine a raw (or lightly filtered) relationship between one or more components of the manipulator and one or more components of the navigation system by utilizing one or more of raw kinematic measurement data from the manipulator and raw navigation data from the navigation system. The controller(s) utilize the raw (or lightly filtered) relationship to determine whether an error has occurred relating to at least one of the manipulator and the navigation system. 1. A robotic surgical system comprising:a surgical tool;a manipulator comprising a plurality of links and being configured to support the surgical tool;a navigation system comprising a tracker coupled to the manipulator or the surgical tool and a localizer being configured to monitor a state of the tracker; and determine a raw relationship between one or more components of the manipulator and one or more components of the navigation system by being configured to utilize one or more of raw kinematic measurement data from the manipulator and raw navigation data from the navigation system; and', 'utilize the raw relationship to determine whether an error has occurred relating to at least one of the manipulator and the navigation system., 'one or more controllers coupled to the manipulator and the navigation system and being configured to2. The robotic surgical system of claim 1 , wherein the one or more controllers are configured to filter the raw relationship to produce a filtered relationship between the one or more components of the manipulator and the one or more components of the navigation system.3. The robotic surgical system of claim 2 , wherein the one or more controllers are configured to ...

Image processing apparatus, image processing method, and image processing program

An image processing system includes an imaging device that captures an image of a measurement object to obtain a captured image, an arrangement detection unit that detects an arrangement state of the measurement object and determines a tilt angle of the measurement object relative to the imaging device, a storage unit that stores a template image, a skew correction unit that corrects the captured image based on the tilt angle determined by the arrangement detection unit to generate a skew-corrected image, a scale correction unit that calculates an amount of scale deviation between the skew-corrected image and the template image and corrects the skew-corrected image based oil the calculated amount of scale deviation to generate a scale-corrected image, and a position search unit that performs template matching using the template image on the scale-corrected image to determine a position corresponding to the template image in the captured image.

DIRECT CLIENT INITIATED CNC TOOL SETTING

Computer numerical control (CNC) machines execute a process automatically unless a condition occurs that triggers one or more alarms that terminate the process. Accordingly, CNC laser cutting post-process inspection is usually non-existent or minimal. However, with CNC laser welding it is more common for a visual inspection or automated inspection to be performed to verify that the process was completed. Similar issues occur when single piece parts are required in addition to which executing an offline inspection requires additional complexity in re-working any piece part. Accordingly, embodiments of the invention provide enterprises and facilities employing CNC laser cutting/welding systems with a means to overcome these limitations. Further, providing intuitive user interfaces allows the user to perform tasks directly through a touch screen interface they are viewing the work piece/piece-parts upon. 1. A method comprising:automatically inspecting a piece-part processed by a computer numerical control (CNC) machine once a predetermined process with the CNC machine has been completed comprising re-executing at least one movement of at least one of a platform supporting the piece-part forming a first part of the CNC machine and a tool forming a second part of the CNC machine, whereinthe movement is part of the predetermined process; andthe CNC machine tool captures an image of a plurality of images at least one of during the movement and upon completion of the movement.2. The method according to claim 1 , whereinthe image of the plurality of images are transmitted from the CNC machine tool via a network to at least one of a remote server for storage and to a remote system associated with at least one of a first enterprise purchasing the piece-part and a second enterprise manufacturing the piece-part.3. The method according to claim 1 , further comprisingreceiving a re-work command in association the image of the plurality of images;re-positioning the CNC machine, ...

Method for In-Line Calibration of an Industrial Robot, Calibration System for Performing Such a Method and Industrial Robot Comprising Such a Calibration System

The invention refers to a method for in-line calibration of an industrial robot (). The robot () comprises a fixed base section () and a multi chain link robot arm (). The chain links () are interconnected and connected to the base section () of the robot (), respectively, by means of articulated joints (). An end effector () of the robot arm () can be moved in respect to the base section () within a three-dimensional workspace into any desired location. The idea is to move the end effector () into a predefined calibration location and to determine characteristic parameters of the robot () for that location. The characteristic parameters are compared to previously acquired values of the corresponding parameters for that calibration location. The differences between the characteristic parameters of the current location and the previously acquired parameters are used for correcting the kinematic model of the robot () and during normal operation of the robot () to enhance the accuracy of movement of the distal end (). The end effector () is moved exactly into the calibration location by means of an iterative closed loop control process, in which light sources () fixedly connected to the end effector () emit light rays which impact on at least one optical position sensor () fixedly positioned in respect to the robot base (). The end effector () is moved such that the actual ray positions () on the sensors () are moved to a predefined position (′) corresponding to the predefined calibration location by means of the iterative process. 111234215632. Method for in-line calibration of an industrial robot () , the robot () comprising a fixed base section () and a multi chain link robot arm () , the chain links () interconnected and connected to the base section () of the robot () , respectively , by means of articulated joints () , wherein a distal end () of the robot arm () can be moved in respect to the base section () within a three-dimensional space into any desired ...

Auto-Reach Method and System for a Remote Vehicle

The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object. 1. A method of controlling a remote vehicle having an end effector and an image sensing device disposed thereon to move the remote vehicle to approach an object , the method comprising:moving the remote vehicle and the imaging sensing device from an initial pose to a targeting pose at which a focal point of the image sensing device is aligned with the object;obtaining an image of the object with the image sensing device;determining a ray from a focal point of the image to the object based on the obtained image;positioning the end effector of the remote vehicle to align with the determined ray; andmoving the end effector along the determined ray to approach the object, wherein the end effector is mounted on the remote vehicle;grasping the object with the end effector;rotating and/or moving the object by moving the remote vehicle and/or end effector.2. The method according to claim 1 , further comprising providing at least one user input selection option claim 1 , and receiving a first user input selection from the at least one user input selection option to determine the ray.3. The method according to claim 2 , further comprising receiving a second user input selection from the at least one user input selection option claim 2 , and controlling the end effector to grip the object after receiving the second user input selection.4. The method according to claim 3 , further comprising receiving a third user input selection from the at least one user input selection option claim 3 , and moving the image sensor to a ...

Controlling method of robot system, program, recording medium, and robot system

A controlling method of a robot system is provided with highly accurately determination of an origin offset at individual joints, even with a small number of cameras. A controlling unit 08 controls a robot 01 and a camera 04 to perform a photographing step for each of pivotal joints 021, 031 and 051 to acquire photographed data, and subsequently performs computational control. The photographing step assigns predetermined coordinate angles to multiple joints of the robot 01 , respectively, to cause the joints to take predetermined positions and orientations, and subsequently causes the camera 04 to photograph a mark 03 during a process of causing the robot 01 to rotate at one of the multiple joints from the predetermined position and orientation. The computational control identifies the joint causing a rotational axis offset among the multiple joints of the robot 01 , based on the photographed data acquired by trajectory acquiring control.

Moveable Apparatuses Having Robotic Manipulators and Conveyors To Facilitate Object Movement

Example embodiments provide for robotic apparatuses that facilitate moving objects within an environment, such as to load or unload boxes or to construct or deconstruct pallets (e.g., from a container or truck bed). One example apparatus includes a horizontal conveyor and a robotic manipulator that are both provided on a moveable cart. A first end of the robotic manipulator is mounted to the moveable cart and a second end of the robotic manipulator has an end effector, such as a grasper. The apparatus also includes a control system configured to receive sensor data indicative of an environment containing a plurality of objects, and then cause the robotic manipulator to place an object from the plurality of objects on the horizontal conveyor.

DIRECT CLIENT INITIATED CNC TOOL SETTING

Computer numerical control (CNC) machines execute a process automatically unless a condition occurs that triggers one or more alarms that terminate the process. Accordingly, CNC laser cutting post-process inspection is usually non-existent or minimal. However, with CNC laser welding it is more common for a visual inspection or automated inspection to be performed to verify that the process was completed. Similar issues occur when single piece parts are required in addition to which executing an offline inspection requires additional complexity in re-working any piece part. Accordingly, embodiments of the invention provide enterprises and facilities employing CNC laser cutting/welding systems with a means to overcome these limitations. Further, providing intuitive user interfaces allows the user to perform tasks directly through a touch screen interface they are viewing the work piece/piece-parts upon. 1. A method comprising:automatically inspecting a piece-part processed by a computer numerical control (CNC) machine once a predetermined process with the CNC machine has been completed comprising re-executing at least one movement of at least one of a platform supporting the piece-part forming a first part of the CNC machine and a tool forming a second part of the CNC machine, whereinthe movement is part of the predetermined process; andthe CNC machine tool captures an image of a plurality of images at least one of during the movement and upon completion of the movement.2. The method according to claim 1 , whereinthe image of the plurality of images are transmitted from the CNC machine tool via a network to at least one of a remote server for storage and to a remote system associated with at least one of a first enterprise purchasing the piece-part and a second enterprise manufacturing the piece-part.3. The method according to claim 1 , further comprisingreceiving a re-work command in association the image of the plurality of images;re-positioning the CNC machine, ...

Direct client initiated cnc tool setting

Computer numerical control (CNC) machines execute a process automatically unless a condition occurs that triggers one or more alarms that terminate the process. Accordingly, CNC laser cutting post-process inspection is usually non-existent or minimal. However, with CNC laser welding it is more common for a visual inspection or automated inspection to be performed to verify that the process was completed. Similar issues occur when single piece parts are required in addition to which executing an offline inspection requires additional complexity in re-working any piece part. Accordingly, embodiments of the invention provide enterprises and facilities employing CNC laser cutting/welding systems with a means to overcome these limitations. Further, providing intuitive user interfaces allows the user to perform tasks directly through a touch screen interface they are viewing the work piece/piece-parts upon.

INFORMATION PROCESSING APPARATUS, MEASURING APPARATUS, SYSTEM, INTERFERENCE DETERMINATION METHOD, AND ARTICLE MANUFACTURING METHOD

Accuracy in interference determination between a hand gripping a workpiece and nearby objects is increased. An information processing apparatus includes a measuring unit configured to decide an object to be gripped among a plurality of objects on the basis of a first image of the imaged objects, a specifying unit configured to specify an attention area for determining, when a gripping device grips the object to be gripped, whether the gripping device interferes with objects near the object to be gripped, a controller configured to change an imaging range of an imaging device on the basis of the attention area, and a determination unit configured to determine, when the gripping device grips the object to be gripped, whether the gripping device interferes with the objects near the object to be gripped on the basis of a second image of an object imaged in a changed imaging range. 1. An information processing apparatus comprising:a decision unit configured to decide an object to be gripped among a plurality of objects on the basis of a first image obtained by capturing a first area including the plurality of object; anda determination unit configured to determine whether a gripping device interferes with the surrounding objects of the object to be gripped on the basis of a second image obtained by capturing a second area which is different from the first area and is a peripheral area of the gripping device when the gripping device grips the object to be gripped.2. The information processing apparatus according to claim 1 , further comprising:a specifying unit configured to specify the second area.3. The information processing apparatus according to claim 1 , further comprising:a changing unit configured to decide an imaging range using the imaging device on the basis of the second area.4. The information processing apparatus according to claim 1 ,wherein the determination unit determines whether the gripping device interferes with the surrounding objects of the object ...

METHOD AND ROBOTIC SYSTEM FOR MANIPLUATING INSTRUMENTS

The disclosed approach relates to manipulation of tools or instruments in the performance of a task by a robot. In accordance with this approach, sensor data is acquired and processed to identify a subset of instruments initially susceptible to manipulation. The instruments are then manipulated in the performance of the task based on the processed sensor data. 1. A processor-implemented method for manipulating one or more objects , comprising the acts of:acquiring sensor data related to a plurality of instruments in an environment in which a robot is located;processing the sensor data to identify one or more non-occluded instruments in the plurality of instruments; andoperating one or both of a manipulator and an effector of the robot to manipulate at least one of the non-occluded instruments based on a task assigned to the robot.2. The processor-implemented method of claim 1 , wherein acquiring sensor data comprises acquiring visual data of at least a portion of the environment in which the plurality of instruments are present.3. The processor-implemented method of claim 1 , wherein the plurality of instruments comprise tools used in the environment and wherein the task comprises sorting or moving the tools.4. The processor-implemented method of claim 1 , wherein processing the sensor data comprises:identifying some or all of the instruments based on the sensor data;estimating a pose for at least the identified instruments; andinferring occlusion of at least the identified instruments to identify the one or more non-occluded instruments.5. The processor-implemented method of claim 4 , wherein identifying some or all of the instruments comprises identifying one or more visual or radiofrequency identifiers present on the plurality of instruments.6. The processor-implemented method of claim 4 , wherein estimating the pose for instruments comprises matching a template of each identified instrument with a corresponding pose of each identified instrument derived from the ...

VISION-BASED OPERATION FOR ROBOT

Embodiments of present disclosure relates to an electronic device, a vision-based operation method and system for a robot. The electronic device comprises at least one processing unit; and a memory coupled to the at least one processing unit and storing computer program instructions therein, the instructions, when executed by the at least one processing unit, causing the electronic device to perform acts including: obtaining an image containing a tool of a robot and an object to be operated by the tool, the image being captured by a camera with a parameter: obtaining a command for operating the tool, the command generated based on the image; and controlling the robot based on the command and the parameter. Embodiments of the present disclosure can greatly improve the accuracy, efficiency and safety of an operation of a robot. 1. An electronic device; comprising:at least one processing unit; and obtain an image containing a tool of a robot and an object to be operated by the tool, the image being captured by a camera with a parameter;', 'obtain a command for operating the tool, the command generated based on the image; and', 'control the robot based on the command and the parameter., 'a memory coupled to the at least one processing unit and storing computer program instructions therein, the instructions, when executed by the at least one processing unit, causing the electronic device to2. The electronic device of claim 1 , wherein the instructions claim 1 , when executed by the at least one processing unit claim 1 , cause the image to be displayed to a user.3. The electronic device of claim 1 , wherein the parameter is related to a size of a field of view of the camera claim 1 , and wherein controlling the robot comprises:in response to the size decreasing, controlling the tool to move with a decreased speed; andin response to the size increasing, controlling the tool to move with an increased speed.4. The electronic device of claim 1 , wherein the parameter is ...

Automated 3-d modeling of shoe parts

Manufacturing of a shoe is enhanced by creating 3-D models of shoe parts. For example, a laser beam may be projected onto a shoe-part surface, such that a projected laser line appears on the shoe part. An image of the projected laser line may be analyzed to determine coordinate information, which may be converted into geometric coordinate values usable to create a 3-D model of the shoe part. Once a 3-D model is known and is converted to a coordinate system recognized by shoe-manufacturing tools, certain manufacturing steps may be automated.

VISUAL SERVO SYSTEM

A visual servo system includes a robot that handles an object, an irradiation device that irradiates light onto the object, and a camera that captures an image of the object and outputs a current image. The visual servo system reads, from a storage medium, a target image that is assumed to be captured by the camera when the object is in target position and attitude, and the light irradiated from the irradiation device is striking the object. The visual servo system calculates control input to be inputted to the robot based on a difference in luminance value between the current image and the target image, and inputs the control input to the robot. The light that is irradiated by the irradiation device is light that has a luminance distribution based on a reference image in winch a luminance value changes along a predetermined direction. 1. A visual servo system for moving an object , the visual servo system comprising:a robot that handles the object;an irradiation device that irradiates light onto the object that is handled by the robot and is fixed at a position that differs from a position of the robot;a camera that captures an image of the object in a state in which the light irradiated by the irradiation device is striking the object, and outputs a current image, the camera being fixed at a position that differs from the position of the robot;a reading unit that reads, from a storage medium, a target image that is assumed to be captured by the camera when the object is in target position and attitude and the light irradiated from the irradiation device is striking the object; andan input unit that calculates a control input to be inputted to the robot based on a difference in luminance value between the current image and the target image, and inputs the control input to the robot, whereinthe light that is irradiated by the irradiation device is light that has a luminance distribution that is based on a reference image in which the luminance value changes along a ...

Method for determining the spatial position of an object and a workpiece for automatically mounting the workpiece on the object

A robot (7) and clamp arm (7') holds the workpiece (6) over the object (1) and cameras (3,3',3'') establish the coordinates of reference object and workpiece and compares these to those of workpieces delivered from a store (9) to accurately apply them.

오류 검출 및 동적 패킹 메커니즘을 구비한 로봇 시스템

로봇 시스템을 작동시키기 위한 방법은 소스 센서 데이터에 기초하여 이산화된 물체 모델을 결정하는 단계; 상기 이산화된 물체 모델과 패킹 계획 또는 마스터 데이터를 비교하는 단계; 목적지 센서 데이터에 기초하여 이산화된 플랫폼 모델을 결정하는 단계; 목적지 센서 데이터에 기초하여 높이 측정값을 결정하는 단계; 이산화된 플랫폼 모델 및/또는 높이 측정값과 예상된 플랫폼 모델 및/또는 예상된 높이 측정값을 비교하는 단계; 및 (i) (a) 이산화된 물체 모델과 (b) 패킹 계획 또는 마스터 데이터 간의 하나 이상의 차이를 식별하여 적어도 하나의 소스 매칭 오류를 결정하거나 또는 (ii) (a) 이산화된 플랫폼 모델 또는 높이 측정값과 (b) 예상된 플랫폼 모델 또는 예상된 높이 측정값 간의 하나 이상의 차이를 식별하여 적어도 하나의 목적지 매칭 오류를 결정함으로써 하나 이상의 오류를 결정하는 단계를 포함한다.

오류 검출 및 동적 패킹 메커니즘을 구비한 로봇 시스템

로봇 시스템을 작동시키기 위한 방법은 소스 센서 데이터에 기초하여 이산화된 물체 모델을 결정하는 단계; 상기 이산화된 물체 모델과 패킹 계획 또는 마스터 데이터를 비교하는 단계; 목적지 센서 데이터에 기초하여 이산화된 플랫폼 모델을 결정하는 단계; 목적지 센서 데이터에 기초하여 높이 측정값을 결정하는 단계; 이산화된 플랫폼 모델 및/또는 높이 측정값과 예상된 플랫폼 모델 및/또는 예상된 높이 측정값을 비교하는 단계; 및 (i) (a) 이산화된 물체 모델과 (b) 패킹 계획 또는 마스터 데이터 간의 하나 이상의 차이를 식별하여 적어도 하나의 소스 매칭 오류를 결정하거나 또는 (ii) (a) 이산화된 플랫폼 모델 또는 높이 측정값과 (b) 예상된 플랫폼 모델 또는 예상된 높이 측정값 간의 하나 이상의 차이를 식별하여 적어도 하나의 목적지 매칭 오류를 결정함으로써 하나 이상의 오류를 결정하는 단계를 포함한다.

Robot system with error detection and dynamic packing mechanism

【課題】ロボットは、様々な実世界の要因から生じ得るばらつき、エラー、または不確実性を考慮するための、実行されるアクションにおける制御の粒度および柔軟性を欠いている。【解決手段】ロボットシステムを動作させるための方法は、ソースセンサデータに基づいて離散化オブジェクトモデルを決定して、パッキングプランまたはマスターデータと比較し、目的地センサデータに基づいて離散化台モデル及び高さ寸法を決定し、離散化台モデルおよび／または高さ寸法を想定台モデルおよび／または想定高さ寸法と比較する。そして、（ｉ）離散化オブジェクトモデルと、パッキングプランまたはマスターデータと、の１つまたは複数の相違を特定して、少なくとも１つのソース照合エラーを判定すること、あるいは（ｉｉ）離散化台モデルまたは高さ寸法と、想定台モデルまたは想定高さ寸法と、のそれぞれの１つまたは複数の相違を特定して、少なくとも１つの目的地照合エラーを判定することによって１つまたは複数のエラーを判定する。【選択図】図７ A robot lacks control granularity and flexibility in the actions taken to account for variations, errors, or uncertainties that can result from various real-world factors. A method for operating a robot system includes determining a discretized object model based on source sensor data, comparing the discretized object model with packing plans or master data, and discretizing a platform model and a discretized platform model based on destination sensor data. The height dimension is determined and the discretized platform model and/or height dimension is compared to the assumed platform model and/or the assumed height dimension. And (i) identifying one or more differences between the discretized object model and the packing plan or master data to determine at least one source matching error, or (ii) a discretized platform model or Determine one or more errors by identifying one or more differences between the height dimension and the assumed platform model or assumed height dimension, respectively, and determining at least one destination matching error .. [Selection diagram] Fig. 7

Robot control system, robot system and program

本发明提供一种机械手控制系统，包括：处理部，其基于参照图像和拍摄图像进行视觉伺服；机械手控制部，其基于控制信号对机械手进行控制；存储部，其对参照图像和标记进行存储。存储部将对工件或机械手的手的区域设定了标记的带有标记的参照图像作为参照图像进行存储，处理部基于拍摄图像生成对工件或者机械手的手的区域中设定了标记的带有标记的拍摄图像，基于带有标记的参照图像和带有标记的拍摄图像进行视觉伺服，生成控制信号，并向机械手控制部输出控制信号。

Method and system for extremely precise positioning of at least one object in the end position in space

The method involves determining actual position of an object (12) in a space-coordination system based on position of a three dimensional (3D) image recording device (1), angular alignment of the device and a characteristic feature (13) of the object. A difference between the actual position and end position of the object is determined. A new reference position of an industrial robot (11) is determined based on the actual position and a variable relating the difference. The robot is moved to the reference position, where the position of the device is determined using a target mark. An independent claim is also included for a system for positioning an object in end position in a room by an industrial robot.

Robot, robotic system, and control device

本发明提供机器人。机器人包括：臂，其使对象物移动，输入接受部，其接受以在对象物设定的坐标系规定的信息(狭义地说是对象物坐标系下的控制点的信息)的输入；以及控制部，其基于拍摄了对象物的拍摄图像、和输入的信息，使臂动作。

The method of real-time visual coating

本发明涉及一种通过配备有用于喷射涂层的喷嘴(5)的自动装置(4)在机动车辆的车身部件(1)上施加涂层的方法，该方法包括以下操作：在部件(1)上确定施加涂层的理论轨迹；计算由此确定的喷嘴(5)的轨迹的路径；引导自动装置(4)，以使喷嘴跟随由此计算的路径；在施加涂层期间，在车身部件(1)上绘制理论轨迹的图像(10)。

Target mark recognition and tracking system and method

Correcting system of position of tool

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Alignment of master and slave in a minimally invasive surgical apparatus

This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave, as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.

Robot system

Absolute robot-assisted positioning method

Anlage zur Durchführung eines absoluten robotergestützten Positionsverfahrens zum Optimieren einer durch theoretisch definierte Arbeitsschritte definierten reale Montageaufgabe, die Anlage umfasst: a. wenigstens einen Roboter, der die Montageaufgabe durchführt, b. wenigstens ein Messsystem, das die Parameter des Roboters überwacht, und c. wenigstens einen Rechner, d. wobei der Rechner wenigstens eine Speichereinheit, eine Recheneinheit, eine Übertragungsschnittstelle und eine Kommunikationsschnittstelle umfasst und hergerichtet ist • ein Programm, das die theoretisch definierte Montageaufgabe wiedergibt, abzuspeichern, • aus dem Programm mittels der Recheneinheit mit einem vorgegebenen Algorithmus aufeinander abgestimmte Arbeitsschritte für genau den Roboter abzuleiten, • das Programm über die Übertragungsschnittstelle an den Roboter zu übertragen, • über die Kommunikationsschnittstelle den Roboter, das Messsystem und die Sensoren zu überwachen, um die Montageaufgabe abzuarbeiten, • über die Kommunikationsschnittstelle Messdaten des Messsystems zu empfangen und für Dokumentationszwecke abzuspeichern, • diese empfangenen Messdaten mit den vorgegebenen Daten in den Unterprogrammen zu vergleichen und bei eventuellen Abweichungen über einem vorgegebenen Grenzwert zu entscheiden ob das Verfahren sofort oder zu einem späteren Zeitpunkt abgebrochen oder gestoppt wird. Plant for carrying out an absolute robot-assisted position method for optimizing a real assembly task defined by theoretically defined work steps, the system comprising: a. at least one robot performing the assembly task b. at least one measuring system that monitors the parameters of the robot, and c. at least one computer, d. wherein the computer comprises at least one memory unit, a computing unit, a transmission interface and a communication interface and is prepared • a program that reproduces the theoretically defined assembly task, store, • from the program by means of the arithmetic unit with a ...

Generation of tool paths for shore assembly

A tool path for treating a shoe upper may be generated to treat substantially only the surface of the shoe bounded by a bite line. The bite line may be defined to correspond to the junction of the shoe upper and a shoe bottom unit. Bite line data and three-dimensional profile data representing at least a portion of a surface of a shoe upper bounded by a bite line may be utilized in combination to generate a tool path for processing the surface of the upper, such as automated application of adhesive to the surface of a lasted upper bounded by a bite line.

Automated 3-D modeling of shoe parts

Manufacturing of a shoe is enhanced by creating 3-D models of shoe parts. For example, a laser beam may be projected onto a shoe-part surface, such that a projected laser line appears on the shoe part. An image of the projected laser line may be analyzed to determine coordinate information, which may be converted into geometric coordinate values usable to create a 3-D model of the shoe part. Once a 3-D model is known and is converted to a coordinate system recognized by shoe-manufacturing tools, certain manufacturing steps may be automated.

System and method for servoing robots based upon workpieces with fiducial marks using machine vision

A system and method for servoing robot marks using fiducial marks and machine vision provides a machine vision system having a machine vision search tool that is adapted to register a pattern, namely a trained fiducial mark, that is transformed by at least two translational degrees and at least one mon-translational degree of freedom. The fiducial is provided to workpiece carried by an end effector of a robot operating within a work area. When the workpiece enters an area of interest within a field of view of a camera of the machine vision system, the fiducial is recognized by the tool based upon a previously trained and calibrated stored image within the tool. The location of the work-piece is derived by the machine vision system based upon the viewed location of the fiducial. The location of the found fiducial is compared with that of a desired location for the fiducial. The desired location can be based upon a standard or desired position of the workpiece. If a difference between location of the found fiducial and the desired location exists, the difference is calculated with respect to each of the translational axes and the rotation. The difference can then be further transformed into robot-based coordinates to the robot controller, and workpiece movement is adjusted based upon the difference. Fiducial location and adjustment continues until the workpiece is located the desired position with minimum error.

Automated 3-d modeling of shoe parts

신발의 제조는 신발 부분들의 3D 모델들을 생성함으로써 향상된다. 예를 들어, 레이저 빔이 신발 부분 표면에 투사되어, 투사 레이저 라인이 신발 부분 상에 나타난다. 투사 레이저 라인의 이미지는 좌표 정보를 결정하기 위해 분석될 수 있는데, 이 정보는 신발 부분의 3D 모델을 생성하는데 사용될 수 있는 기하학적 좌표 값들로 변환될 수 있다. 일단 3D 모델이 알려지고, 신발 제조 공구들에 의해 인식되는 좌표 시스템으로 변환되면, 특정 제조 단계들이 자동화될 수 있다.

Method and system for extremely precise positioning of at least one object in the end position in space

本发明涉及至少一个物体以高精度定位到空间内的最终位置的方法和系统。物体(12)在抓取误差内被工业机器人(11)抓取和保持。确定用于工业机器人(11)的、修正抓取误差的补偿变量。物体(12)通过在直至在预定误差内到达最终位置前重复的以下步骤，被高精度调整移动到最终位置：利用三维图像拍摄装置(1)拍摄三维图像。由三维图像拍摄装置(1)的位置(P)、由角度测量单元(4)测定的三维图像拍摄装置(1)的角度取向、三维图像和在物体(12)上的特征(13)的已知情况确定空间坐标系内的物体(12)实际位置。计算物体(12)实际位置和最终位置之间的位置差。在考虑补偿变量的情况下由工业机器人(11)实际位置和与位置差关联的变量来计算工业机器人(11)的新的理论位置。调整工业机器人(11)到新的理论位置。

Uncalibrated dynamic mechanical system controller

An apparatus and method for enabling an uncalibrated, model independent controller for a mechanical system using a dynamic quasi-Newton algorithm which incorporates velocity components of any moving system parameter(s) is provided. In the preferred embodiment, tracking of a moving target by a robot having multiple degrees of freedom is achieved using an uncalibrated model independent visual servo control. Model independent visual servo control is defined as using visual feedback to control a robot's servomotors without a precisely calibrated kinematic robot model or camera model. A processor updates a Jacobian and a controller provides control signals such that the robot's end effector is directed to a desired location relative to a target on a workpiece.

Method and apparatus for single camera 3D vision guided robotics

A method of three-dimensional handling of an object by a robot uses a tool and one camera mounted on the robot and at least six target features which are normal features of the object are selected on the object. The features are used to train the robot in the frame of reference of the object so that when the same object is subsequently located, the robot's path of operation can be quickly transformed into the frame of reference of the object.

Method and device for controlling manipulators

A method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator. The method can be used in conjunction with a simplified, improved cooperation between manipulators.

Method for improving the positioning accuracy of a manipulator with respect to a serial workpiece

Verfahren zur Verbesserung der Positioniergenauigkeit eines Manipulators, insbesondere des Manipulators eines Roboters, bezüglich einer zu bearbeitenden Struktur oder Kontur (SK), z. B. Kante (SK), Falz, Schweißnaht oder Kleberaube, eines Serienwerkstücks (SW), wobei – die Form des Serienwerkstücks (SW) im Wesentlichen der Form eines Referenz-Werkstücks (RW) entspricht und hiervon durch herstellungsbedingte Exemplarstreuung abweicht, – das Referenz-Werkstück (RW) eine Referenz-Struktur oder Referenz-Kontur (RK) aufweist, – deren Form im Wesentlichen der Form der Struktur oder Kontur (SK) des Serienwerkstücks (SW) entspricht und hiervon durch herstellungsbedingte Exemplarstreuung abweicht, – und deren Lage und Orientierung in Bezug auf das Referenz-Werkstück (RW) im wesentlichen der Lage und Orientierung der Struktur oder Kontur (SK) in Bezug auf das Serienwerkstück (SW) entsprechen und hiervon durch herstellungsbedingte Exemplarstreuung abweichen, mit folgenden Schritten: a) an dem Manipulator oder Roboter wird ein Sensor angeordnet, auf welchen ein Sensor-Koordinatensystem (SKS) bezogen ist, b) das Referenz-Werkstück (RW) wird im Arbeitsbereich des Manipulators angeordnet, c) es wird mindestens ein Punkt, nämlich ein Referenzpunkt (RP1), auf der Referenz-Struktur oder Referenz-Kontur (RK) ausgewählt, c') der Schritt c) für einen weiteren Referenzpunkt (RP2–RP6) entsprechend erneut ausgeführt wird, d) der Manipulator wird an eine solche Ausgangsposition (A1) verfahren, von welcher aus der Manipulator den Referenzpunkt (RP1) mit einem Werkzeug zu bearbeiten imstande ist, ... Method for improving the positioning accuracy of a manipulator, in particular the manipulator of a robot, with respect to a structure or contour (SK) to be machined, for. B. edge (SK), fold, weld or adhesive dome, a series work piece (SW), wherein - the shape of the series workpiece (SW) substantially the shape of a reference workpiece (RW) corresponds to and deviates from it by production- ...

REAL-TIME VISUALIZATION COATING METHOD

Patent FR2729236B1

METHOD FOR SEIZING AN OBJECT BY A ROBOT ARM PROVIDED WITH A CAMERA

AUTOMATED GUIDANCE AND RECOGNITION SYSTEM AND METHOD FOR SAID SYSTEM

Les modes de réalisation et procédés de l'invention ci-décrite concernent un système de guidage et de reconnaissance visuels (10) qui n'exige aucun étalonnage. Un mode de réalisation du système comprend un manipulateur asservi (20) configuré pour réaliser une fonction, un appareil photographique (30) monté sur la plaque frontale (65) du manipulateur (20) et un contrôleur de reconnaissance (50) configuré pour acquérir une image bidimensionnelle de la pièce. Le contrôleur de manipulateur (40) est configuré pour recevoir et enregistrer la position de la plaque frontale (65) à une distance « A » entre la pièce de référence (70) et le manipulateur (20) le long d'un axe de la pièce de référence (70) quand la pièce de référence (70) se trouve dans la région d'intérêt de l'appareil photographique (30). Le contrôleur de reconnaissance (50) est configuré pour apprendre la pièce à partir de l'image et de la distance « A ». Pendant l'opération, une pièce est reconnue par le système, et le manipulateur (20) est positionné précisément par rapport à la pièce pour que le manipulateur (20) puisse réaliser sa fonction avec précision. Embodiments and methods of the invention described herein relate to a visual guidance and recognition system (10) that does not require calibration. One embodiment of the system includes a slave manipulator (20) configured to perform a function, a camera (30) mounted on the faceplate (65) of the manipulator (20), and a recognition controller (50) configured to acquire a two-dimensional image of the piece. The manipulator controller (40) is configured to receive and record the position of the face plate (65) at a distance "A" between the reference part (70) and the manipulator (20) along an axis of the reference part (70) when the reference part (70) is in the region of interest of the camera (30). The recognition controller (50) is configured to learn the part from the image and the distance "A". During the ...

Improvements in or relating to a method of an apparatus for registering a robot

Robot positioning in three-dimensional space by active lighting

The robot (1) is equipped with an image sensor (2) and positioned by means of projection of a luminous pattern on to the scene (4). The projection (5) is a function of the robot's position. Servo control is applied by comparison of the shape of the current pattern image with the final shape of the reference pattern image corresp. to a desired position. Information on the projected shape of the pattern is input to a neural net and may include co-ordinates, Fourier descriptors or geometric moments.

REAL-TIME VISUALIZATION COATING METHOD

Procédé d'application d'un enduit sur une pièce (1) de carrosserie de véhicule automobile au moyen d'un robot (4) équipé d'une buse (5) pour la pulvérisation de l'enduit, ce procédé comprenant les opérations consistant à : - déterminer sur la pièce (1) un tracé théorique pour l'application de l'enduit ; - calculer pour la buse (5) une trajectoire en regard du tracé ainsi déterminé ; - piloter le robot (4) pour faire suivre à la buse la trajectoire ainsi calculée ; - restituer sur la pièce (1) de carrosserie, lors de l'application de l'enduit, une image (10) du tracé théorique. Method for applying a coating to a motor vehicle body part (1) by means of a robot (4) equipped with a nozzle (5) for spraying the coating, this process comprising the operations comprising to: - determine on the part (1) a theoretical layout for the application of the coating; - calculate for the nozzle (5) a trajectory opposite the route thus determined; - Control the robot (4) to follow the nozzle calculated trajectory; - Restitution on the part (1) of bodywork, during the application of the coating, an image (10) of the theoretical layout.

Robot system

在第一机械手(R1)上搭载视觉传感器的照相机，在第二机械手(R2)上设置特征部。使机械手(R1、R2)取第一初始状态(G1)，从该状态移动机械手(R1)或者(R2)使特征部的图像成为目标位置/大小(G2)，存储当前位置P1、Q1(G3)。以下，改变初始状态的各机械手位置，同时重复N次(N≥3)(G4)。根据重复N次得到的P1...PN和Q1...QN，求表示从∑b向∑b’的坐标变换的行列式T。取一台或者两台机械手控制装置都可以。由此，以高精度简单地执行求机械手之间的相对位置的校准作业，削减伴随夹具使用的成本。

Method for generating robot operation program, and device for generating robot operation program

티치 팬던트를 이용하는 일 없이, 프로그래밍 언어를 알지 못하는 교시자가 로봇의 이동 및 작업내용을 간단하게 로봇에게 교시할 수 있는 것을 목적으로 한다. 본 발명의 로봇 동작 프로그램 생성방법은, GUI를 이용하여 어떤 템플릿 요소동작 프로그램의 변수를 특정하기 위한 변수 특정화면을 표시하여, 그 후에, 변수가 특정된 템플릿 요소동작 프로그램을 커스텀 요소동작 프로그램으로써 저장부에 저장시키는 것을, 복수의 템플릿 요소동작 프로그램에 대하여 순차적으로 실행하는 스텝을 포함하고, 복수의 템플릿 요소동작 프로그램은 그 대응하는 요소작업에 필요한 로봇의 운동(이동 및 자세변화)을 규정하는 1이상의 손끝 위치좌표(교시점)을 변수로써 포함하고, 또한 상기 1이상의 손끝 위치좌표가 모두 특정됨으로써 로봇의 운동이 특정되도록 구성되어 있다. Without using a teach pendant, an instructor who does not know a programming language can simply teach the robot about movement and work. The method for generating a robot motion program of the present invention displays a variable specification screen for specifying a variable of a template element motion program using a GUI, and then stores the template element motion program with the variable specified as a custom element motion program. A step of sequentially executing the plurality of template element motion programs stored in the unit, wherein the plurality of template element motion programs define a motion (movement and posture change) of the robot required for the corresponding element work. The above fingertip position coordinates (teaching point) are included as variables, and the one or more fingertip position coordinates are all specified so that the motion of the robot can be specified.

Systems and methods for spatially moving objects using manipulators

Method and device for mounting several add-on parts on production part

A method for the automated mounting of a plurality of add-on parts ( 3, 3 ′) on a work piece ( 1 ), in particular on a vehicle body, wherein the add-on parts ( 3, 3 ′) are to be attached to the work piece ( 1 ) in such a way that they are oriented with respect to one another in a precisely positioned fashion. Each add-on part ( 3, 3 ′) is held here in a mounting tool ( 5, 5 ′) which is guided by means of a robot ( 7, 7 ′). A sensor system ( 18, 18 ′) which is fixedly connected to the mounting tool ( 5, 5 ′) and has at least one sensor ( 19, 19 ′) is attached to at least one of the mounting tools ( 5, 5 ′). The mounting tools ( 5, 5 ′) are moved, using an iterative closed-loop control process (A- 2 ′) using measured values of the sensors ( 19, 19 ′), into a preliminary position ( 23, 23 ′) in which the add-on parts ( 3, 3 ′) which are held in the mounting tools ( 5, 5 ′) are oriented with respect to one another in a precisely positioned fashion. The mounting tools ( 5, 5 ′) with the add-on parts ( 3, 3 ′) which are held therein and are oriented with respect to one another in a precisely positioned fashion are then moved from the preliminary position ( 23, 23 ′) into a mounting position ( 27, 27 ′) with respect to the work piece ( 1 ), in which position they are connected to the work piece ( 1 ).

Method and device for producing a connecting area on a production part

The invention relates to a method for producing a connection area (4) on a production part (1), particularly on an autobody sheet, which should be precisely positioned with regard to a reference area (8) on the production part (1). To this end, a robot-guided processing tool (9) is used, which is connected in a fixed manner to a sensor system (13) and which forms a tool/sensor combination (16) therewith. Within the scope of a positioning phase (II), the tool/sensor combination (16) is, in a first step, moved from a proximity position (24), which is independent of the position of the production part (1) in the working area (23) of the robot (11), and into an anticipation position (18), in which the tool/sensor combination (16) is aligned in a positionally precise manner with regard to the reference area (8) of the production part (1). In order to approach the anticipation position (18), an iterative control process is run through over the course of which an (actual) measured value of the sensor system (13) is firstly generated that is compared to a (set) measured value generated within the scope of a setting-up phase. A displacement vector of the tool/sensor combination (16) is calculated based on the difference between the (actual) measured value and (set) measured value while using a Jacobian matrix that is calculated within the scope of the setting-up phase, and the tool/sensor combination (16) is displaced by this displacement vector. A metric calibration of the too/sensor combination (16) can be forgone in order to perform this positioning task.

Control device and alignment device

Method and system for highly precisely positioning at least one object in an end position in space

The invention relates to a method and a system for highly precisely positioning at least one object in an end position in space. An object (12) is grabbed and held by the industrial robot (11) within a gripping tolerance. A compensation value that corrects the gripping tolerance is determined for the industrial robot (11). The object (12) is highly precisely moved to an end position by the following steps, which are repeated until the end position is reached within a specified tolerance: Recording a three-dimensional image by means of a 3-D image recording device (1). Determining the present position of the object (12) in the spatial coordinate system from the position (P) of the 3-D image recording device (1) the angular orientation of the 3-D image recording device (1) detected by an angle measuring unit (4), the three-dimensional image, and the knowledge of features (13) on the object (12). Calculating the position difference between the present position of the object (12) and the end position. Calculating a new target position of the industrial robot (11) while taking into consideration the compensation value from the present position of the industrial robot (11) and a value linked to the position difference. Moving the industrial robot (11) to the new target position.

Image processing apparatus, image processing method, and image processing program

画像処理システムは、測定対象を撮影して撮影画像を取得する撮影装置と、測定対象の配置状態を検知し、撮影装置に対する測定対象のあおり角を決定する配置検知部と、テンプレート画像を記憶する記憶部と、配置検知部により決定されたあおり角に基づいて撮影画像を補正することで傾き補正画像を生成する傾き補正部と、傾き補正画像とテンプレート画像との間のスケールずれ量を算出するとともに、当該算出したスケールずれ量に基づいて傾き補正画像を補正することでスケール補正画像を生成するスケール補正部と、スケール補正画像に対して、テンプレート画像を用いたテンプレートマッチングを行なうことで、撮影画像上のテンプレート画像に対応する位置を決定する位置探索部とを含む。 An image processing system captures a measurement object and obtains a captured image, detects an arrangement state of the measurement object, and determines a tilt angle of the measurement object with respect to the imaging apparatus, and stores a template image A storage unit, an inclination correction unit that generates an inclination correction image by correcting the captured image based on the tilt angle determined by the arrangement detection unit, and an amount of scale deviation between the inclination correction image and the template image are calculated. In addition, the scale correction unit that generates the scale correction image by correcting the inclination correction image based on the calculated scale deviation amount, and the template correction using the template image for the scale correction image, photographing is performed. A position search unit for determining a position corresponding to the template image on the image.

Production system

The present invention comprises: a machine tool (10); a robot (25) having a camera (31); an unmanned carrier (35) equipped with the robot (25); and a control device (40) that controls the unmanned carrier (35) and the robot (25), and an identification figure is arranged in a machining area of the machine tool (10). The control device (40): stores, in a teaching operation, with the robot (25) being in a photographing posture, an image of the identification figure photographed by the camera (31) as a reference image; estimates, in repetitive operations of the unmanned carrier (35) and the robot (25), with the robot (25) being in the photographing posture, an amount of error between the current posture and the posture in the teaching operation of the robot (25) on the basis of the images of the identification figure photographed by the camera (31) and the reference image; and corrects a work posture of the robot (25) on the basis of the estimated error amount.

Robot control device, robot system, and robot

Automated core package placement

A method of automatically placing a core package (301) in a mold (505) is provided. Locators (501) and a cavity (503) designed to receive at least a part of the core package (301) are formed in the mold (505). The mold (505) is positioned such that the locators (501) may be illuminated and one or more images are obtained of the locators (501). The images are processed to determine a target location for the core package (301) in the cavity (503), and an automated device (303) places the core package (303) in the mold (505) at the target location.

Measuring system

The image of a tool center point ( 31 ) caught by a camera (light-receiving device) 4 from two initial positions is moved to a predetermined point, by a predetermined point moving process, at the center of a light-receiving surface thereby to acquire robot positions (Qf 1, Qf 2 ), based on which the direction of the view line ( 40 ) is determined. Next, the robot is moved to the position where the position (Qf 1 ) is rotated by 180 degrees around the Z axis of a coordinate system (Σv 1 ) thereby to execute the predetermined point moving process. After rotational movement, a robot position (Qf 3 ) is acquired. The midpoint between the position (Qf 1 ) and the position (Qf 3 ) is determined as the origin of a coordinate system (Σv 2 ). Using the position and the posture of the view line ( 40 ), the position of the tool center point ( 31 ) is determined. Thus, the position of the tool center point with respect to the tool mounting surface can be determined using a fixed light-receiving device. By additionally measuring two points at known relative positions from the tool center point, the tool posture as well as the position of the tool center point can be determined.

The Coordinate Setting method of robot, robot system and robot

本发明提供一种机器人、机器人系统以及机器人的坐标系设定方法，该机器人具备对机器人(2)的动作进行控制的机器人控制装置(20)，机器人控制装置(20)构成为，利用设置有机器人(2)的基准平面(5a)上的三个以上的测量点的至少竖直方向的位置坐标的测量结果、和设置在机器人(2)的基部(2a)的多个基准反射部(2c)的位置坐标的测量结果，来设定设置在基准平面(5a)上的机器人(2)的坐标系。

Robotic appartus and system for removal of turbine bucket covers

A robotic apparatus and system for cutting turbine bucket covers on a turbine rotor are provided. The robotic apparatus includes a grinding device operable to drive a grinding wheel, a robotic arm coupled to the grinding device, a base member coupled to the robotic arm, a vision system for locating the fastener on the turbine bucket cover, and a control system. The base member is mounted independently of the turbine bucket cover. The control system is coupled to the vision system, the grinding device, and the robotic apparatus, and configured to control movement of the robotic apparatus and the grinding device based upon vision system data and spatial information related to the turbine bucket cover. The system includes at least a portion of a turbine rotor including a turbine bucket cover having at least one fastener thereon, and a robotic device for cutting the turbine bucket cover.

Method and system for highly precisely positioning at least one object in an end position in space

The invention relates to a method and a system for highly precisely positioning at least one object in an end position in space. An object (12) is grabbed and held by the industrial robot (11) within a gripping tolerance. A compensation value that corrects the gripping tolerance is determined for the industrial robot (11). The object (12) is highly precisely moved to an end position by the following steps, which are repeated until the end position is reached within a specified tolerance: Recording a three-dimensional image by means of a 3-D image recording device (1). Determining the present position of the object (12) in the spatial coordinate system from the position (P) of the 3-D image recording device (1) the angular orientation of the 3-D image recording device (1) detected by an angle measuring unit (4), the three-dimensional image, and the knowledge of features (13) on the object (12). Calculating the position difference between the present position of the object (12) and the end position. Calculating a new target position of the industrial robot (11) while taking into consideration the compensation value from the present position of the industrial robot (11) and a value linked to the position difference. Moving the industrial robot (11) to the new target position.

Force control robot system with visual sensor for inserting work

A force-controlled robot system with a visual sensor capable of performing a fitting operation automatically with high reliability. A force sensor (3) attached to a wrist portion (2) of a robot (1) detects force in six axis directions for force control, and transmits the results of detection to a robot controller (5). Position and orientation of a convex portion (71) of a fit-in workpiece (7) held by claws (41) of a robot hand (4) and position and orientation of a concave position (81) of a receiving workpiece (8) positioned by a positioning device (9) are detected by a three-dimensional visual sensor including a structured light unit SU and an image processor in the robot controller (5), and a robot position to start an inserting action is corrected. Then, the convex portion (71) is inserted into the concave portion (81) under the force control. After the inserting action completes, it is determined whether or not the insertion state of the fit-in workpiece (7) in the receiving workpiece (8) is normal.

Production system

A production system includes a machine tool (10), a robot (25) having a camera (31), an automatic guided vehicle (35) having the robot (25) mounted thereon, and a controller (40) controlling the automatic guided vehicle (35) and the robot (25), and has an identification figure arranged in a machining area of the machine tool (10). The controller (40) stores, as a reference image, an image of the identification figure captured by the camera (31) with the robot (25) in an image capturing pose in a teaching operation. When repeatedly operating the automatic guided vehicle (35) and the robot (25), the controller (40) estimates an amount of error between a pose of the robot (25) in the teaching operation and a current pose of the robot (25) based on the reference image and an image of the identification figure captured by the camera (31) with the robot (25) in the image capturing pose, and corrects operating poses of the robot (25) based on the estimated amount of error.

System and method for controlling movement of tail end of execution arm

A method and system for controlling movement of a tail end of an execution arm. The method comprises the following steps: 11) arranging a camera (100) at a tail end (500) of the execution arm and arranging an identifier (10) in a visible area of the camera (100); 12) the camera (100) obtaining an image of the identifier (10) in real time; 13) pre-storing an initial image of the identifier at an initial position, comparing the initial image with the image of the identifier obtained in real time, and calculating real-time displacement of the tail end of the execution arm (500) relative to the initial position; and 14) controlling the movement of the tail end (500) of the execution arm according to the real-time displacement of the tail end (500) of the execution arm. In the control method and control system, the real-time displacement of the tail end (500) of the execution arm is obtained through direct image analysis, so that an instruction of controlling the movement of the execution arm is output. Compared with the calculation manner based on a plurality of superimposed sensor data signals in the prior art, the calculation manner based on image comparison is more accurate.

Robotic arm processing method and system based on 3D image

Robotic arm processing method and system based on 3D image are provided. The processing method includes: providing robotic arm 3D model data and processing environment 3D model data; obtaining workpiece 3D model data, and generating a processing path consisting of contact points according to the workpiece 3D model data, wherein a free end of a robotic arm moves along the processing path to complete a processing procedure; generating a posture candidate group according to a relationship according to each one of the contact points corresponding to the free end of the robotic arm; selecting an actual moving posture from the posture candidate group; moving the free end of the robotic arm to each corresponding one of the contact points according to the selected actual moving posture; and moving the free end of the robotic arm along the processing path according to the actual moving postures to perform the processing procedure.

Object pickup strategies for a robotic device

Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

A robot and a method of controlling a robot

The present invention relates to a robot comprising a horizontal or horizontally slanted transparent experiment layer being adapted to support items at arbitrary positions on the experiment layer, and a moveable sensor arranged below the transparent experimental layer said sensor being configured for providing a sensor signal indicative of item(s)' location on the experiment layer, an actuator arranged for being moved into different positions above the horizontal transparent layer a display device being configured for visually representing located item(s) a user input device configured for receiving information as to operation of the actuator.

Image-based robot trajectory planning approach

A method of programming at least one robot by demonstration comprising : performing at least one demonstration of at least one task in the Held of view of at least one fixed camera to obtain at least one observed task trajectory of at least one manipulated object, preferably at least one set of observed task trajectories; generating a generalized task trajectory from said at least one observed task trajectory, preferably from said at least one set of observed task trajectories; and executing said at least one task by said at least one robot in the field of view of said at least one fixed camera, preferably using image-based visual servoing to minimize the difference between the executed trajectory during said execution and the generalized task trajectory.

Robot, robot system, control device, and control method

Provided is a robot including a hand and a control unit that operates the hand. The control unit rotates a first object around a predetermined position of the first object with the hand and moves the first object with respect to a second object, based on a captured image including the hand and the first object. Therefore, the robot can perform good assembly work. The predetermined position may be a coordinate origin that moves with the first object, and the control unit may translate the first object in addition to rotating the first object. The robot may also include a force sensor that detects an external force acting on the hand.

Robot controller, robot system, robot and robot control method

本发明涉及机器人控制装置、机器人系统、机器人以及机器人控制方法。机器人具有：控制部，以使该机器人的可动部的端点靠近目标位置的方式控制可动部；图像获取部，获取包括端点处于目标位置时的端点的图像亦即目标图像、以及包括端点处于当前位置时的端点的图像亦即当前图像，控制部基于当前图像以及目标图像、和来自检测作用于可动部的力的力检测部的输出，来控制可动部的移动。

Method and system for highly precisely positioning at least one object in an end position in space

An object is highly precisely moved by an industrial robot to an end position by the following steps, which are repeated until the end position is reached within a specified tolerance: Recording a three-dimensional image by means of a 3-D image recording device. Determining the present position of the object in the spatial coordinate system from the position of the 3-D image recording device the angular orientation of the 3-D image recording device detected by an angle measuring unit, the three-dimensional image, and the knowledge of features on the object. Calculating the position difference between the present position of the object and the end position. Calculating a new target position of the industrial robot while taking into consideration the compensation value from the present position of the industrial robot and a value linked to the position difference. Moving the industrial robot to the new target position.

Robot system using visual feedback

本发明涉及一种利用了视觉反馈的机器人系统。机器人系统具备：机器人，通过程序被进行控制，该程序用于对放置在平面上的第一对象物位置的对象物进行预定的作业；第一机器人位置存储部，其存储相对于第一对象物位置，处于预定的相对位置关系的机械臂前端部的位置；目标到达状态数据存储部，其存储对象物在照相机的图像上的特征量；机器人移动量计算部，其求出用于使放置在第二对象物位置上的对象物的特征量与目标到达状态数据的特征量一致的从任意的初始位置开始的移动量；以及修正数据计算部，其根据基于移动量使机械臂前端部移动时的第二机器人位置与第一机器人位置的差来计算程序的修正数据。

Control device and alignment device

A control device capable of controlling a movement device of an alignment device and equipped with: a first statistical processing unit for acquiring a plurality of relative positions of an object as calculated by a vision sensor, and subjecting the acquired plurality of relative positions of the object to statistical processing; a second statistical processing unit for acquiring, from a position sensor, the relative positions of a holding device corresponding to each of the plurality of relative positions of the object as calculated by the vison sensor, and subjecting the acquired plurality of relative positions of the holding device to statistical processing; and a movement control unit for applying feedback control to the movement device on the basis of the relative positions of the object that have been subjected to statistical processing by the first statistical processing unit and the relative positions of the holding device that have been subjected to statistical processing by the second statistical processing unit, and aligning the object with a target position while causing the object to approach the target position.

Interactive system configuration

一种用于在物理环境内执行交互的系统，该系统包括机器人、测量机器人定位的跟踪系统以及控制系统，该机器人具有经历相对于环境的移动的机器人底座、安装到机器人底座的机器人臂，该机器人臂包括安装在该机器人臂上用于执行所述交互的末端执行器，该机器人定位指示机器人的至少一部分相对于环境的定位，该控制系统确定机器人定位；并且根据机器人定位来控制机器人臂。跟踪系统以至少10Hz的频率测量定位，并以至少优于10mm的精度测量定位，同时控制系统以至少10Hz的频率操作。

System and method for controlling Robotic Manipulator

提供了相对于目标对象移动可铰接臂的机器人系统和方法。以某个采集率采集对应于相对于目标对象的臂的位置的感知信息。以比采集率更快或与其不同步中的至少之一的控制率来控制臂的移动。使用感知信息，提供表示臂的预测定位的预测位置信息。使用感知信息和预测位置信息来控制臂。

Method for assembling glass jar elements e.g. pot, involves calculating trajectory compared with trajectory obtained by training to direct lid with respect to pot by robot, so as to engage each loops in respective hooks after turning lid

The method involves positioning a pot (1) and lid zones that are arranged opposite to one another and provided with hooks and loops, respectively. The pot and the lid zones are subjected to a vision system (16) to define the position of the pot and the lid zones in a space. A trajectory that is compared with a trajectory obtained by training is calculated to laterally and angularly direct a lid (2) with respect to the pot by a robot (9), so as to initially engage each loop in respective hooks after side and angular turning of the lid. An independent claim is also included for a jar elements assembling installation comprising a pot storage station.

Method for controlling robot during optical inspection of linear area of door chassis of motor vehicle, involves positioning sensor over area adjacent to examined area, such that entire area lies within sensor field of optical sensor

The method involves positioning an optical sensor (14) over a linear area (16) of a door chassis (18) of vehicle, by robot (12). An image of linear area is recorded by optical sensor. The deviation between recorded image and reference image is determined so as to set coordinates of robot. The robot is driven according to set coordinates, and linear area is checked by sensor. The sensor is positioned over area adjacent to examined area, such that entire area lies within sensor field of optical sensor. The above processes are repeated until entire area is verified optically.

Self-calibrating orienting system for a manipulating device

Metering mechanism

执行从2个初始位置把用照相机4捕捉的工具前端点31的图像移到受光面中心的规定点移动处理，取得机械手位置Qf1、Qf2，根据Qf1、Qf2求出视线40的方向；接着，把机械手移动到将位置Qf1绕坐标系∑v1的Z轴旋转180度的位置上，进行规定点移动处理；旋转移动结束后，取得机械手位置Qf3；然后求出Qf1和Qf3的中点作为坐标系∑v2的原点位置；再利用视线40的位置、姿势，求得工具前端点31的位置。由此，可以使用固定的受光设备求得工具前端点相对于工具安装面的位置。通过追加计量相对位置已知的离开工具前端点的2点的位置，不仅可以求得工具前端点的位置，而且可以求出工具的姿势。

Communication system for an interaction system

Position-orientation recognition device