A control device estimates a position and pose of an imaging device relative to a robot based on an image of the robot captured by the imaging device. A simulation device arranges a robot model at a teaching point, and generates a simulation image of the robot model captured by a virtual camera that is arranged so that a position and pose of the virtual camera relative to the robot model in the virtual space coincide with the estimated position and pose of the imaging device. The control device determines an amount of correction of a position and pose of the robot for the teaching point so that the position and pose of the robot on the actual image captured after the robot has been driven according to a movement command to the teaching point approximate to the position and pose of the robot model on the simulation image.

An end effector calibration assembly includes an electronic controller, a first camera assembly communicatively coupled to the electronic controller, and a second camera assembly communicatively coupled to the electronic controller. A first image capture path of the first camera assembly intersects a second image capture path of the second camera assembly. The electronic controller receives image data from the first camera assembly, receives image data from the second camera assembly, and calibrates a position of the robot end effector based on the image data received from the first camera assembly and the second camera assembly.

A calibration method, in a robot having a robot arm, of obtaining a position relationship between a first control point set for an end effector attached to a distal end of the robot arm and a second control point set on the distal end of the robot arm, includes a sixth step of calculating a second position relationship between a second reference position obtained from a position of the second control point in a third state and a position of the second control point in a fourth state and a first feature point in the fourth state, and a seventh step of calculating coordinates of the first feature point in a robot coordinate system based on a first position relationship and the second position relationship.

A calibration method, in a robot having a robot arm, of obtaining a position relationship between a first control point set for an end effector attached to a distal end of the robot arm and a second control point set on the distal end of the robot arm, includes a sixth step of calculating a second position relationship between a second reference position obtained from a position of the second control point in a third state and a position of the second control point in a fourth state and a first feature point in the fourth state, and a seventh step of calculating coordinates of the first feature point in a robot coordinate system based on a first position relationship and the second position relationship.

A control device estimates a position and pose of an imaging device relative to a robot based on an image of the robot captured by the imaging device. A simulation device arranges a robot model at a teaching point, and generates a simulation image of the robot model captured by a virtual camera that is arranged so that a position and pose of the virtual camera relative to the robot model in the virtual space coincide with the estimated position and pose of the imaging device. The control device determines an amount of correction of a position and pose of the robot for the teaching point so that the position and pose of the robot on the actual image captured after the robot has been driven according to a movement command to the teaching point approximate to the position and pose of the robot model on the simulation image.

An apparatus and a method for detecting damage to a linear guide on which a robot is mounted, by using a simple configuration. The apparatus has: a length measuring sensor configured to measure a position of a predetermined portion of the robot at predetermined time intervals; a current detecting section configured to detect a current value of a drive motor for driving a slide; and a judging section such as a processor, configured to, when the measured distance between the predetermined portion of the robot and the length measuring sensor is out of a range defined by a predetermined first threshold, and when the current value of the drive motor is equal to or higher than a predetermined second threshold, judge that the linear guide has been damaged.

Determining deviation of a multi jointed robot under load using a tribological contact between an end of the robot and any available hard constraint near the robot, involves pressing the end against the constraint, and then soliciting a movement of the end relative to the constraint in a tribologically resisted direction to apply a force that does not overbear the resistance. By measuring the force and a position encoded by the robot, a deviation of the robot under the corresponding load is determined. Correction terms may be required for deformation of the tribological surface and/or constraint. The constraint may be tooling or parts subjected to an intended process. The deviation at many measurement poses of the robot, each in multiple resisted directions, within the ordinary operating space of the robot, was used to derive compliances of the robot, and a kinetostatic model.

An end effector calibration assembly includes an electronic controller, a first camera assembly communicatively coupled to the electronic controller, and a second camera assembly communicatively coupled to the electronic controller. A first image capture path of the first camera assembly intersects a second image capture path of the second camera assembly. The electronic controller receives image data from the first camera assembly, receives image data from the second camera assembly, and calibrates a position of the robot end effector based on the image data received from the first camera assembly and the second camera assembly.

A control apparatus makes a robot hand grip a work for measurement. The control apparatus controls the operation of a robot arm so that the robot arm keeps a force of striking the work for measurement against a reference constant, while making the end portion of the robot arm rotate around the end axis, in a state of making the outer periphery F3 of the work for measurement, which is gripped by the robot hand, strike against the reference jig. The control apparatus acquires a detection result detected by an encoder of each of the joints when the end portion of the robot arm has been rotated. The control apparatus calculates a correction amount of trajectory data based on eccentricity of a central axis with respect to an end axis, by using the detection result of the encoder, and corrects the trajectory data, based on the correction amount.

An apparatus and a method for detecting damage to a linear guide on which a robot is mounted, by using a simple configuration. The apparatus has: a length measuring sensor configured to measure a position of a predetermined portion of the robot at predetermined time intervals; a current detecting section configured to detect a current value of a drive motor for driving a slide; and a judging section such as a processor, configured to, when the measured distance between the predetermined portion of the robot and the length measuring sensor is out of a range defined by a predetermined first threshold, and when the current value of the drive motor is equal to or higher than a predetermined second threshold, judge that the linear guide has been damaged.