robot controller

Abstract

Provided is a robot control device (5), capable of enabling a robot arm to follow an arbitrarily moving workpiece with high precision. The robot control device (5) includes: a feature point detection unit (51) configured to detect the positions of a plurality of feature points in the object from an image of the object captured by a visual sensor at a predetermined cycle; a position and posture calculation unit (52), based on the positions of the detected multiple feature points, update the respective motion equations of the multiple feature points in each predetermined period, and based on the respective positions of the multiple feature points calculated according to the updated motion equations , calculate the position or posture of the object; and the robot arm motion control unit (53), based on the calculated position or posture of the object, controls the motion of the robot arm (4) to follow the object.

Description

Technical field [0001] The invention relates to a robot control device suitable for controlling a robot arm through visual servoing. Background technique [0002] Conventionally, as a technology for controlling a robot arm, it is known that the position and posture of a continuously moving workpiece (object) are continuously measured by visual sensors such as a camera, and the robot arm follows the object based on the measurement result. Visual servoing (for example, refer to Patent Document 1 and Patent Document 2). [0003] Prior art literature [0004] Patent literature [0005] Patent Document 1: Japanese Patent No. 4265088 [0006] Patent Document 2: Japanese Patent Application Publication No. 2011-143494 Summary of the invention [0007] The problem to be solved by the invention [0008] However, in the robot control devices described in Patent Document 1 and Patent Document 2, since the moving speed of the fixed workpiece is assumed as a condition, there is a problem that the ro...

AI Technical Summary

Problems solved by technology

[0009] In addition, when the workpiece cannot be detected by the camera, the position of the workpiece is calculated based on the equation of motion of the workpiece regardless of whether a part of the workpiece enters the field of view of the camera, so there is a gap between the calculated workpiece position and the actual workpiece position. There is a deviation, which leads to the problem of decreased tracking accuracy

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