Title:
ROBOT DEVICE WITH VISUAL SENSOR
Document Type and Number:
Japanese Patent JPH05138559
Kind Code:
A
Abstract:
PURPOSE: To obtain the location of an object accurately even if a camera mounted on a hand inclines when a robot arm is extended.
CONSTITUTION: An inclination sensor 11 is mounted on a hand 3 or a camera 4, and the inclination of the camera 4 is measured at the time of calibration. The inclination of the camera 4 is measured also at the time of cognition, the difference between the inclination of the camera 4 at the time of calibration and the inclination at the time of cognition is determined, and this difference is compensated with a wrist shaft 12. An deviation of the robot relative to the distance from its vertical coordinate axis is determined in advance, and this deviation is corrected at the time of cognition.
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Inventors:
TATSUMI NAOKI
Application Number:
JP32965391A
Publication Date:
June 01, 1993
Filing Date:
November 20, 1991
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP
International Classes:
B25J9/10; B25J13/08; G05B19/18; (IPC1-7): B25J9/10; B25J13/08; G05B19/18
Attorney, Agent or Firm:
Shinichi Kusano