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Publication numberWO1990000109 A1
Publication typeApplication
Application numberPCT/JP1989/000661
Publication date11 Jan 1990
Filing date30 Jun 1989
Priority date1 Jul 1988
Also published asDE68926614D1, DE68926614T2, EP0378703A1, EP0378703A4, EP0378703B1, US5066902
Publication numberPCT/1989/661, PCT/JP/1989/000661, PCT/JP/1989/00661, PCT/JP/89/000661, PCT/JP/89/00661, PCT/JP1989/000661, PCT/JP1989/00661, PCT/JP1989000661, PCT/JP198900661, PCT/JP89/000661, PCT/JP89/00661, PCT/JP89000661, PCT/JP8900661, WO 1990/000109 A1, WO 1990000109 A1, WO 1990000109A1, WO 9000109 A1, WO 9000109A1, WO-A1-1990000109, WO-A1-9000109, WO1990/000109A1, WO1990000109 A1, WO1990000109A1, WO9000109 A1, WO9000109A1
InventorsAtsushi Watanabe
ApplicantFanuc Ltd
Export CitationBiBTeX, EndNote, RefMan
External Links: Patentscope, Espacenet
Nominal data automatic setting method of visual sensor system
WO 1990000109 A1
Abstract
This invention provides a nominal data automatic setting method in a visual sensor system capable of setting accurately, rapidly and easily nominal data and a correction data calculation method executed on the basis of the nominal data that are set automatically. When the visual sensor system is judged operating in the nominal mode at the start of execution of a predetermined portion of a user's program by a visual sensor system fitted to an industrial robot (S200), a message inquiring whether or not nominal data setting is to be executed is displayed (S201). When a nominal data setting instruction is inputted by an operator (S202), work position and posture data in a sensor coordinates system at that point of time obtained on the basis of density image data are converted to the work position and posture data in the robot coordinates system and memorized as nominal data (S203). The visual sensor system calculates the operation position and correction data for correcting the posture on the basis of the work position and posture data worked out similarly and the nominal data, and sends them to the robot.
Patent Citations
Cited PatentFiling datePublication dateApplicantTitle
JPH06198410A * Title not available
JPH06292079A * Title not available
JPS50112969A * Title not available
JPS52115064A * Title not available
JPS61173878A * Title not available
JPS61279480A * Title not available
Non-Patent Citations
Reference
1 *See also references of EP0378703A4
Classifications
International ClassificationG01B21/00, B25J19/04, B25J9/16, G05B19/401, B25J19/02, G05B19/42
Cooperative ClassificationG05B19/4207, B25J9/1697, B25J19/021, G05B19/4015, G05B2219/36417
European ClassificationG05B19/42B2, B25J9/16V1, G05B19/401C, B25J19/02B
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