JP2015089607A - Tool tip point information correction program, tool tip point information correction device, and tool tip point information correction method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tool tip point information correction program, a tool tip point information correction device and a tool tip point information correction method which more efficiently correct positional information on a tool tip point.SOLUTION: In a tool tip point information correction program, tool tip point information correction processing includes: a first axis control process for making one axis of three axes in a first coordinate system provided in a tool as a rotation axis and controlling the rotation axis in parallel to an optical axis of an imaging device; an image data generation process for generating three image data including a tool tip point shown to be detectable by the imaging device while rotating around the rotation axis with set positional information as a center; a correction information calculation process for calculating correction vector of the set positional information and actual positional information on the basis of vector information on a center of a circle composed of an image position of the tool tip point in the three image data and the image position; and a first correction process for correcting the set positional information on the basis of the calculated correction vector.

Description

  The present invention relates to a tool tip point information correction program, a tool tip point information correction device, and a tool tip point information correction method.

  In industrial robots, robot manipulators are used to enable handling adapted to various tasks. A robot manipulator refers to a portion corresponding to an arm or hand in a robot. In the robot manipulator, a hand and a tool are attached to the tip wrist portion of the manipulator in order to realize handling corresponding to various operations.

  The work command to the robot is issued based on the position (and posture) of the hand or tool on the work space. Therefore, a reference point for commands in the hand or tool is set in advance. The reference point is called, for example, a tool tip point. The tool tip point is calculated in advance based on, for example, hand or tool design information and is held by the robot. However, the tools in the design information may be different from the hands and tools that are actually generated. If the tool tip point position setting information held by the robot is different from the tool tip point position in the actual tool, the tool tip point position setting information is based on the actual tool tip point position. It is corrected.

  Therefore, for example, a method for calculating the position of the tool tip point based on the tip of the touch-up pin whose position coordinates are known is proposed. In this method, for example, the tool tip point is positioned in three different postures with respect to the tip of the touch-up pin, and the position and posture of the origin in the coordinate system of the manipulator wrist are recorded. Then, the position of the tool tip point is acquired based on the position and orientation (for example, Patent Document 1).

JP-A-8-85053

  However, according to the conventional method, there is a limit to the accuracy of the position information of the acquired tool tip point due to the technique based on the visual positioning by the operator. In addition, high operation skill is required for positioning, and the tool tip collides with the tip of the touch-up pin, and there is a high probability that an accident will occur. Furthermore, an error may occur in the measurement processing of the position and orientation of the origin in the coordinate system of the manipulator wrist, and the accuracy of the position information of the acquired tool tip may be lowered.

  Therefore, an object of the present invention is to provide a tool tip point information correction program, a tool tip point information correction device, and a tool tip point information correction method that more efficiently correct the tool tip point position information.

  A first aspect is a processor-readable tool tip point information correction program for executing a tool tip point information correction process for correcting tool tip point setting position information of a tool attached to a robot body to actual position information. The tip information correction processing includes a first axis control step of controlling one of the three axes of the first coordinate system of the tool as a rotation axis and parallel to the optical axis of the imaging apparatus, and the set position information. An image data generating step for generating, by the imaging device, three image data including the tool tip point that can be detected while rotating around the rotation axis as a center, and the tool tip in the three image data Based on the vector information of the center of the circle constituted by the image position of the point and the image position, the set position information and the actual position information are complemented. A correction information calculating step of calculating a vector, based on the correction vector the calculated, a first correcting step for correcting the setting position information.

  According to the first aspect, the position information of the tool tip point is corrected more efficiently.

It is an example figure of composition of a tool tip point information amendment system in this example of an embodiment. It is a figure which shows an example of a structure of the robot control apparatus in this embodiment. It is a figure which shows an example of the block diagram of the robot control apparatus in this embodiment. It is a figure explaining an example of the robot in this embodiment. It is a figure explaining the positional information on TCP. It is a figure which shows the outline | summary of a process of a TCP position information correction program. It is a flowchart explaining the correction process of the inclination information of a TCP position setting value. It is an example figure of arrangement | positioning of the imaging device match | combined with the origin of the mechanical interface coordinate system. It is a flowchart explaining the process which carries out movement control of the robot main body so that the rotation axis and optical axis of a mechanical interface coordinate system may become parallel. It is a 1st figure explaining the specific example of the process which controls a robot main body so that the rotating shaft and optical axis of a mechanical interface coordinate system may become parallel. It is a 2nd figure explaining the specific example of the process which controls a robot main body so that the rotating shaft and optical axis of a mechanical interface coordinate system may become parallel. It is an example figure of arrangement | positioning of the robot which enables imaging of a TCP position. It is a figure explaining the alignment process with respect to the optical axis of the imaging device of the rotating shaft of a tool coordinate system based on inclination information. It is a flowchart explaining the calculation process of the correction value of inclination information. It is a 1st figure explaining the specific example of the calculation process of the correction value of inclination information. It is a 2nd figure explaining the specific example of the calculation process of the correction value of inclination information. It is a flowchart explaining the correction process of the coordinate information of a TCP position setting value. It is a 1st figure explaining the specific example of the correction process of coordinate information. It is a 2nd figure explaining the specific example of the correction process of coordinate information. It is an example figure showing the measurement information of an actual TCP position when the coordinate information of a TCP position setting value is amended.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the technical scope of the present invention is not limited to these embodiments, but extends to the matters described in the claims and equivalents thereof.

[Configuration of tool tip information correction system]
FIG. 1 is a diagram illustrating an example of the configuration of a tool tip point information correction system according to the present embodiment. 1 includes, for example, a robot control device (robot controller) 10, a teaching board 50, an image processing device 40, a robot 20, and an imaging device 30.

  The robot control device 10 is connected to the robot 20 and is also connected to the teaching board 50 and the image processing device 40. The teaching board 50 includes manual operation keys and receives instructions from the operator. The operator operates the teaching board 50 to perform control instructions for the robot 20 and various parameters when the robot 20 is controlled.

  Moreover, the imaging device 30 of FIG. 1 is a CCD camera, for example. The imaging device 30 generates image data of the robot 20 and outputs it to the image processing device 40. The image processing device 40 performs predetermined image processing on the image data input from the imaging device 30 and outputs the image data to the robot control device 10. The robot control device 10 corrects the setting information of the position of the tool tip held by the robot control device 10 based on the input image data.

[Robot controller configuration diagram]
FIG. 2 is a diagram illustrating an example of the configuration of the robot control apparatus 10 according to the present embodiment. The robot control apparatus 10 includes, for example, a processor 110, a memory 111 such as a RAM (Random Access Memory), a teaching board communication interface 113, an external input / output interface 114, and a servo controller 112. Each unit is connected to each other via a bus 115. The teaching board communication interface 113 is connected to the teaching board 50 and controls communication with the teaching board 50. The external input / output interface 114 controls input / output with an external device such as the image processing apparatus 40. The servo controller 112 controls a posture of the robot 20 by driving a servo motor built in the robot 20 in accordance with a command from the processor 110.

  The memory 111 stores, for example, a robot control program 121, a tool center point (TCP) position information correction program 122, a TCP position setting value Fp, measurement information 124, and a TCP position correction value 125. The robot control program 121 and the TCP position information correction program 122 implement the control process of the robot 20 and the correction process of the TCP position set value Fp, respectively, in cooperation with the processor 110. The TCP position setting value Fp indicates information on the TCP position. The measurement information 124 indicates, for example, an actual TCP measurement position in the image data generated by the imaging device 30, and is generated by the TCP position information correction program 122. The TCP position correction value 125 indicates a correction value for the TCP position setting value Fp.

[Robot controller block diagram]
FIG. 3 is a diagram illustrating an example of a block diagram of the robot control apparatus 10 according to the present embodiment. The robot control apparatus 10 includes, for example, a robot control unit 131, a TCP information correction unit 132, and an image processing unit 133.

  The robot control unit 131 controls the robot 20 based on the instruction information input via the teaching board communication interface 113 according to the robot control program 121. The image processing unit 133 includes a TCP position measurement unit 124, for example. The TCP position measurement unit 124 measures the TCP position information in the image data including the actual TCP position input from the image processing apparatus 40, and generates measurement information 124. The TCP information correction unit 132 calculates a TCP position correction value 125 based on the measurement information 124 and the TCP position setting value Fp, and issues a correction instruction for the TCP position setting value Fp. Then, the robot control unit 131 corrects the TCP position setting value Fp based on the correction instruction.

[robot]
FIG. 4 is a diagram for explaining an example of the robot 20 in the present embodiment. As shown in FIG. 4, the robot 20 in the present embodiment includes a robot body RA and a tool TL. As shown in FIG. 4, the tool TL is attached to the tip of the robot body RA. A TCP (tool tip point) is set at the tip portion of the tool TL. TCP indicates a position serving as a base point for control of the tool TL. The TCP position information is calculated in advance as the TCP position setting value Fp based on the design information of the tool TL, and is stored in the memory 111 in the robot control apparatus 10.

  Further, as shown in FIG. 4, the robot body RA has a robot coordinate system (Xa, Ya, Za) which is an orthogonal coordinate system. In addition to the robot coordinate system (Xa, Ya, Za), a mechanical interface coordinate system (Xb, Yb, Zb), which is an orthogonal coordinate system, is provided on the attachment surface of the tool TL. A point b0 in FIG. 4 indicates the origin of the mechanical interface coordinate system (Xb, Yb, Zb). The robot control apparatus 10 includes position information of the origin b0 of the mechanical interface coordinate system on the robot coordinate system (Xa, Ya, Za), and the robot coordinate system (Xa, Ya, Za) and the mechanical interface coordinate system (Xb, Yb). , Zb) and the tilt information of each axis. Therefore, the robot controller 10 can mutually convert coordinate information on the robot coordinate system (Xa, Ya, Za) and coordinate information on the mechanical interface coordinate system (Xb, Yb, Zb).

  In FIG. 4, the tool TL has a tool coordinate system (Xc, Yc, Zc) which is an orthogonal coordinate system. The origin of the tool coordinate system (Xc, Yc, Zc) corresponds to the TCP position. The robot controller 10 includes an origin position (that is, a TCP position) of the tool coordinate system (Xc, Yc, Zc) on the mechanical interface coordinate system (Xb, Yb, Zb), and a mechanical interface coordinate system (Xb, Yb, Zb). Zb) and inclination information of each axis of the tool coordinate system (Xc, Yc, Zc). Therefore, the robot control apparatus 10 can mutually convert coordinate information on the mechanical interface coordinate system (Xb, Yb, Zb) and coordinate information on the tool coordinate system (Xc, Yc, Zc).

[TCP position setting value]
FIG. 5 is a diagram for explaining the TCP position setting value Fp. The TCP position setting value Fp includes coordinate information (lxb, lyb, lzb) in the mechanical interface coordinate system (Xb, Yb, Zb) and a mechanical interface coordinate system (Xb, Yb) in the tool coordinate system (Xc, Yc, Zc). , Zb) is indicated by the inclination information (α, β, γ) of each axis. Specifically, the coordinate information (lxb, lyb, lzb) is distance information of each axis from the origin b0 of the mechanical interface coordinate system (Xb, Yb, Zb) as shown in FIG.

  The TCP position setting value Fp is set based on, for example, design data of the tool TL. For this reason, the tool TL in the design data may be different from the actual tool TL generated based on the design data. That is, the TCP position setting value Fp based on the design data may not indicate the position of the TCPpp in the actual tool TL. Alternatively, the position of TCPpp may change as the robot body RA, tool TL, etc. deteriorate over time. Therefore, the TCP position setting value Fp is corrected to information indicating the actual TCP position by the TCP position information correction program 122.

[Outline of processing of TCP position information correction program]
FIG. 6 is a diagram showing an overview of the processing of the TCP position information correction program 122 in the present embodiment. First, the TCP position set value Fp (lxb, lyb, lzb, α, β, γ) is set in the memory of the robot controller 10 (S90). Then, the TCP position information correction program 122 performs a correction process of the inclination information (α, β, γ) in the TCP position setting value Fp (S100). Subsequently, after the inclination information (α, β, γ) is corrected, the TCP position information correction program 122 performs a correction process on the coordinate information (lxb, lyb, lzb) in the TCP position setting value Fp (S110). Details of each process will be described later based on another flowchart.

  When the error of the inclination information (α, β, γ) is small, the correction process step (S100) for the inclination information (α, β, γ) is omitted, and the correction of the coordinate information (lxb, lyb, lzb) is performed. Only the processing step (S110) may be performed. Next, the inclination information (α, β, γ) correction processing (S100) in the TCP position setting value Fp will be described with reference to the flowchart.

[Flowchart: Correction Process of Inclination Information (α, β, γ) (S100 in FIG. 6)]
FIG. 7 is a flowchart for explaining the correction processing of the inclination information (α, β, γ) at the TCP position setting value Fp. This process corresponds to the process of step S100 in the flowchart of FIG.

  In the flowchart of FIG. 7, first, the imaging device 30 is arranged at a position where the origin b0 in the mechanical interface coordinate system can be imaged (S101). At this time, the tool TL is not attached to the robot body RA. Subsequently, the TCP position information correction program 122 selects one of the three axes of the mechanical interface coordinate system as a rotation axis (S102). Then, the TCP position information correction program 122 controls the robot body RA so that the selected rotation axis and the optical axis of the imaging device 30 are parallel (S103). Details of the processing will be described later in another flowchart.

  Here, the tool TL is attached to the robot body RA (S104). Subsequently, the TCP position information correction program 122 controls the robot 20 in parallel so that the TCP position can be imaged from the imaging device 30 (S105). At this time, the rotation axis in the mechanical interface coordinate system and the optical axis of the imaging device 30 are already controlled in parallel. For this reason, for example, the robot 20 is controlled to move in parallel so that the tilt of the robot 20, that is, the tilt of the mechanical interface coordinate system is not changed.

  Next, the TCP position information correction program 122 is positioned on the optical axis of the imaging device 30 with the same coordinate axis in the tool coordinate system as the rotation axis based on the inclination information (α, β, γ) in the TCP position setting value Fp. Together (S106). The tilt information (α, β, γ) is tilt information of the coordinate system interface from the mechanical interface coordinate system. Therefore, the TCP position information correction program 122 controls the rotation of the robot 20 in accordance with the tilt information (α, β, γ) in a state where the optical axis and the rotation axis in the mechanical interface coordinate system are controlled in parallel, and the tool coordinates. Align so that the same axis of rotation in the system is parallel to the optical axis. Therefore, if there is no error in the tilt information (α, β, γ), the rotation axis of the tool coordinate system after alignment and the optical axis are parallel.

  Subsequently, the TCP position information correction program 122 calculates a correction value of the inclination information (α, β, γ) based on the inclination between the rotation axis and the optical axis of the tool coordinate system after the alignment (S107). . When the rotation axis of the tool coordinate system and the optical axis of the imaging apparatus 30 are not parallel, the TCP position information correction program 122 calculates the angle between the rotation axis and the optical axis as a correction value. Details of the processing will be described later in another flowchart.

  Then, the TCP position information correction program 122 determines whether or not at least two axes are selected as rotation axes in the mechanical interface coordinate system (S108). When only one axis is selected (NO in S108), the TCP position information correction program 122 selects an axis different from the selected axis as the rotation axis (S102). Then, the TCP position information correction program 122 performs the processes of steps S103 to S107 based on another rotation axis. On the other hand, when the two axes have been selected (YES in S108), the TCP position information correction program 122 uses the calculated inclination information (α, β, γ) as the inclination at the TCP position setting value Fp. The information (α, β, γ) is corrected (S109).

  As described above, the TCP position information correction program 122 is based on the actual tool TL, and the inclination information (α, β) from the mechanical interface coordinate system (Xb, Yb, Zb) of the tool coordinate system (Xc, Yc, Zc). , Γ) can be calculated. Thereby, the inclination information (α, β, γ) in the TCP position setting value Fp is corrected. By performing the processes of steps S103 to S107 for at least two axes, the TCP position information correction program 122 can correct all elements in the inclination information (α, β, γ).

[Specific Example: Arrangement of Imaging Device (S101 in FIG. 7)]
FIG. 8 is a diagram illustrating an arrangement example of the imaging device 30 in accordance with the origin b0 in the mechanical interface coordinate system (Xb, Yb, Zb). FIG. 8 corresponds to the process of step S101 in the flowchart of FIG.

  In step S101 in the flowchart of FIG. 7, for example, as shown in FIG. 8, the imaging device 30 is arranged at a position where the origin b0 in the mechanical interface coordinate system (Xb, Yb, Zb) of the robot body RA can be imaged. . The origin b0 in the mechanical interface coordinate system (Xb, Yb, Zb) is indicated by a marker or the like, for example. For this reason, in the image data generated by the imaging device 30, the position of the origin b0 can be identified.

  As described with reference to the flowchart of FIG. 7, the TCP position information correction program 122 then selects one of the three axes of the mechanical interface coordinate system (Xb, Yb, Zb) as the rotation axis (S102). ), The robot body RA is controlled so that the rotation axis and the optical axis of the imaging device 30 are parallel to each other (S103). Next, the process of process S103 is demonstrated based on a flowchart figure.

[Flowchart: Parallel control of rotation axis and optical axis (S103 in FIG. 7)]
FIG. 9 is a flowchart for explaining processing for controlling the movement of the robot body RA so that the rotation axis of the mechanical interface coordinate system (Xb, Yb, Zb) and the optical axis of the imaging device 30 are parallel to each other. First, the TCP position information correction program 122 is generated by causing the imaging device 30 to image the origin b0 of the mechanical interface coordinate system (Xb, Yb, Zb) at the position (reference position) before the movement of the robot body RA. The position of the origin b0 in the image data is measured (S30).

  Next, the TCP position information correction program 122 translates the robot body RA by a predetermined distance in the first axis direction excluding the rotation axis in the mechanical interface coordinate system (Xb, Yb, Zb) (S31). For example, when the selected rotation axis is the Z-axis, the TCP position information correction program 122 instructs the parallel movement of the robot body RA by about 10 mm in the X-axis direction. Subsequently, the TCP position information correction program 122 causes the imaging device 30 to image the origin b0 of the mechanical interface coordinate system (Xb, Yb, Zb), and measures the position of the origin b0 in the generated image data (S32). . The generated measurement information 124 is stored in the memory 111 of the robot control apparatus 10, for example.

  Next, after returning the robot body RA to the reference position, the TCP position information correction program 122 translates the robot body RA in the second axis direction excluding the rotation axis by the same distance as in step S31 (S33). For example, the TCP position information correction program 122 instructs parallel movement of the robot body RA about 10 mm in the Y-axis direction. Subsequently, the TCP position information correction program 122 causes the imaging device 30 to image the origin b0 of the mechanical interface coordinate system (Xb, Yb, Zb), and measures the position of the origin b0 in the generated image data (S34). . Similarly, the generated measurement information 124 is stored in, for example, the memory 111 of the robot control device 10.

  Then, the TCP position information correction program 122 calculates each movement vector when the robot body RA is controlled to move in the direction of each axis from the reference position based on the measurement position of the origin b0 in each image data (S35). That is, the TCP position information correction program 122 translates the movement vector of the measurement position of the origin b0 when the robot body RA is translated from the reference position in the X-axis direction, and the robot body RA is translated from the reference position in the Y-axis direction. In this case, the movement vector of the measurement position of the origin b0 is calculated.

  Subsequently, the TCP position information correction program 122 calculates an inclination angle between the rotation axis and the optical axis of the imaging device 30 based on the calculated two movement vectors (S36). Specifically, the TCP position information correction program 122 calculates the angle between the rotation axis and the optical axis of the imaging device 30 based on the ratio between the lengths of the two movement vectors and the angle formed by the movement vectors. The angle formed by the two movement vectors is calculated based on, for example, a calculation formula for three-dimensional coordinate conversion. When the rotation axis and the optical axis of the imaging device 30 are parallel, the two movement vectors have the same length, and the angle formed by the two movement vectors is 90 degrees.

  Subsequently, the TCP position information correction program 122 controls the rotation of the robot body RA so that the rotation axis is parallel to the optical axis of the imaging device 30 based on the calculated tilt angle (S37).

[Specific example: Parallel control of rotation axis and optical axis (S103 in FIG. 7, FIG. 9)]
FIG. 10 shows a specific example of processing (flowchart diagram of FIG. 9) for controlling the robot body RA so that the rotation axis of the mechanical interface coordinate system (Xb, Yb, Zb) and the optical axis LL of the imaging device 30 are parallel to each other. It is the 1st figure explaining about. In this example, the Z axis Zb is selected as the rotation axis in the mechanical interface coordinate system (Xb, Yb, Zb).

  In FIG. 10A, the reference position of the robot body RA is illustrated. First, image data is generated by the imaging device 30 at the reference position, and the position of the origin b0 in the image data is measured (S30). Then, the robot body RA is subjected to parallel movement control by about 10 mm in the X-axis Xb direction (xd), and image data is generated by the imaging device 30 (S31). Then, the position of the origin b0 in the generated image data is measured (S32). Similarly, the robot body RA returned to the reference position is subjected to parallel movement control by about 10 mm in the Y-axis Yb direction (yd), image data is generated by the imaging device 30 (S33), and the origin in the generated image data The position of b0 is measured (S34).

  Based on the image data at the reference position and the image position of the origin b0 in the image data generated at the movement position in the X-axis and Y-axis directions, the movement vectors X1 and Y1 shown in FIG. It is detected (S35). In this example, the Z axis Zb and the optical axis LL are not parallel. For this reason, the lengths of the vector X1 and the vector Y1 are not the same, and the angle θ1 formed by the vector X1 and the vector Y1 is not 90 degrees. Therefore, the inclination angle between the Z axis Zb and the optical axis LL is calculated based on the angle θ1 formed by the vector X1 and the vector Y1 and the length ratio (S36). Based on the calculated tilt angle, the robot body RA is rotationally controlled so that the Z axis Zb and the optical axis LL are parallel to each other (S37).

  FIG. 11 is a second diagram illustrating a specific example of processing for controlling the robot main body RA so that the rotation axis of the mechanical interface coordinate system (Xb, Yb, Zb) and the optical axis LL of the imaging device 30 are parallel to each other. It is.

  In FIG. 11A, based on the flowchart of FIG. 9, the robot is arranged such that the Z axis Zb of the mechanical interface coordinate system (Xb, Yb, Zb) and the optical axis LL of the imaging device 30 are parallel to each other. The figure by which main body RA was controlled is shown. Therefore, in the same manner as in FIG. 10, the angle formed by the movement vectors X2 and Y2 when the movement of the robot body RA is controlled is the same for each of the X-axis and Y-axis directions (xd, yd). . Further, the distances of the movement vectors X2 and Y2 are the same. Thus, based on the flowchart of FIG. 9, the imaging device 30 is controlled so that the rotation axis Zb and the optical axis LL are parallel.

  Subsequently, as described with reference to the flowchart of FIG. 7, the tool TL is attached to the robot body RA (S104), and the robot 20 is controlled so that the TCP position can be imaged (S105).

[Specific Example: Arrangement Control of Robot 20 (S105 in FIG. 7)]
FIG. 12 is an example showing an arrangement of the robot 20 that enables imaging of the TCP position pp. FIG. 12 corresponds to the process of step S105 in the flowchart of FIG. As shown in FIG. 12A to FIG. 12B, for example, the position and inclination of the imaging device 30 are not changed, and the robot 20 is arranged so that the TCP position pp can be captured from the imaging device 30. Be controlled. At this time, the robot 20 is controlled to move in parallel so that the inclination of the mechanical interface coordinate system (Xb, Yb, Zb) is not changed.

  Subsequently, in the flowchart of FIG. 7, the rotation axis of the tool coordinate system is aligned with the optical axis LL of the imaging device 30 based on the inclination information (α, β, γ) at the TCP position setting value Fp. (S106).

[Specific Example: Positioning Based on Inclination Information (α, β, γ) (S106 in FIG. 7)]
FIG. 13 is a diagram for explaining the alignment processing of the rotation axis of the tool coordinate system with respect to the optical axis LL of the imaging device 30 based on the tilt information (α, β, γ). In this example, the rotation axis is the Z axis. FIG. 13A is a diagram showing a state in which the robot 20 is arranged at a position where the TCP position pp can be imaged according to step S105 of FIG.

  On the other hand, in FIG. 13B, the rotation of the robot 20 is controlled based on the tilt information (α, β, γ) according to step S106 of FIG. 7, and the Z axis Zc of the tool coordinate system (Xc, Yc, Zc) It is a figure which shows the state by which the alignment process was performed so that may become parallel to the optical axis LL. However, in this example, the inclination information (α, β, γ) in the TCP position setting value Fp has an error. For this reason, in the example of FIG. 13B, the Z axis Zc in the tool coordinate system (Xc, Yc, Zc) after alignment and the optical axis LL of the imaging device 30 are not parallel. If there is an error, the TCP position information correction program 122 subsequently determines the angle between the Z axis Zc and the optical axis LL in the tool coordinate system (Xc, Yc, Zc) after alignment, and the inclination information (α, β , Γ) as a correction value (S107).

[Flowchart: Correction Value Calculation Processing for Inclination Information (α, β, γ) (S107 in FIG. 7)]
FIG. 14 is a flowchart for explaining the calculation process of the correction value of the inclination information (α, β, γ). This process corresponds to the process of step S107 in the flowchart of FIG. The outline of the processing is the same as that of the flowchart of FIG.

  First, the TCP position information correction program 122 causes the imaging device 30 to capture the TCP position at the position (reference position) before the movement of the robot 20, and measures the TCP position in the generated image data (S61). The TCP position is identifiable by a marker or the like, for example. Next, the TCP position information correction program 122 translates the robot 20 by a predetermined distance in the first axis direction excluding the rotation axis in the tool coordinate system (Xc, Yc, Zc) (S62). For example, when the rotation axis is the Z axis, the TCP position information correction program 122 instructs the robot 20 to translate about 10 mm in the X axis direction. Subsequently, the TCP position information correction program 122 causes the imaging device 30 to capture the TCP position and measures the TCP position in the generated image data (S63).

  Next, after returning the robot 20 to the reference position, the TCP position information correction program 122 translates the robot 20 in the second axis direction excluding the rotation axis by the same distance as in step S62 (S64). For example, the TCP position information correction program 122 instructs parallel movement of the robot 20 by about 10 mm in the Y-axis direction. Subsequently, the TCP position information correction program 122 causes the imaging device 30 to capture the TCP position and measures the TCP position in the generated image data (S65).

  Then, the TCP position information correction program 122 calculates each movement vector when the robot 20 is controlled to move in the respective axial directions from the reference position based on the measurement position of the TCP position in each image data (S66). Subsequently, the TCP position information correction program 122 calculates an inclination angle between the rotation axis and the optical axis of the imaging device 30 based on the calculated two movement vectors (S67). Specifically, the TCP position information correction program 122 calculates the angle between the rotation axis and the optical axis of the imaging device 30 based on the ratio between the lengths of the two movement vectors and the angle formed by the movement vectors. When the rotation axis and the optical axis of the imaging device 30 are parallel, the two movement vectors have the same length, and the angle formed by the two movement vectors is 90 degrees.

  Thereby, the TCP position information correction program 122 can calculate the inclination angle of the rotation axis from the optical axis of the imaging device 30. Subsequently, the TCP position information correction program 122 calculates a correction value of the inclination information (α, β, γ) based on the calculated inclination angle (S68).

[Specific Example: Correction Value Calculation Processing for Inclination Information (α, β, γ) (FIG. 14)]
FIG. 15 is a first diagram illustrating a specific example of the correction value calculation processing (FIG. 14) of the inclination information (α, β, γ). In this example, the Z axis Zc is selected as the rotation axis in the tool coordinate system (Xc, Yc, Zc).

  In FIG. 15A, the reference position of the robot 20 is illustrated. First, image data is generated by the imaging device 30 at the reference position, and the TCP position in the image data is measured (S61). Then, in the same manner as in the specific example of FIG. 10, the robot 20 is subjected to parallel movement control by about 10 mm in the X-axis Xc direction (xd), and image data is generated by the imaging device 30 (S62). Then, the TCP position in the generated image data is measured (S63). Similarly, the robot 20 returned to the reference position is subjected to parallel movement control by about 10 mm in the Y-axis Yc direction (yd), image data is generated by the imaging device 30 (S64), and the TCP position in the generated image data Is measured (S65).

  Then, based on the image data at the reference position and the image position at the TCP position in the image data generated at the movement position in the X-axis and Y-axis directions, the movement vectors X3 and Y3 shown in FIG. It is detected (S66). In this example, since the Z axis Zc and the optical axis LL are not parallel, the lengths of the vector X3 and the vector Y3 are not the same, and the angle θ3 formed by the vector X3 and the vector Y3 is not 90 degrees. Then, based on the angle θ3 formed by the vector X3 and the vector Y3 and the ratio between the vector X3 and the vector Y3, an inclination angle between the Z axis Zc and the optical axis LL is calculated (S67), and based on the inclination angle. Thus, the correction value of the inclination information (α, β, γ) is calculated (S68).

  FIG. 16 is a second diagram illustrating a specific example of the correction value calculation processing (FIG. 14) of the inclination information (α, β, γ). FIG. 16A shows a diagram in which the rotation of the robot 20 is controlled based on the correction values of the calculated inclination information (α, β, γ). By correcting the tilt information (α, β, γ), the Z axis Zc of the tool coordinate system (Xc, Yc, Zc) and the optical axis LL of the imaging device 30 are parallel. Therefore, in the same manner as in FIG. 15, the angle formed by the movement vectors X4 and Y4 when the robot 20 is movement-controlled is the same distance for each of the X-axis and Y-axis directions (xd, yd). Further, the distances of the movement vectors X4 and Y4 are the same.

  7 to 16, the case has been described where the Z axis is selected from the three axes in the mechanical interface coordinate system (Xb, Yb, Zb) and the tool coordinate system (Xc, Yc, Zc). For this reason, when another axis other than the Z axis is selected as the rotation axis based on the flowchart of FIG. 7 (NO in S108 of FIG. 7), the processes of FIGS. Is called. By selecting two or more axes as rotation axes, each element in the inclination information (α, β, γ) in the TCP position setting value Fp is corrected.

  Subsequently, the TCP position information correction program 122 performs a correction process on the coordinate information (lxb, lyb, lzb) in the TCP position information (S110). Here, the correction processing of the coordinate information (lxb, lyb, lzb) will be described based on the flowchart (S110).

[Flowchart: Correction processing of coordinate information (lxb, lyb, lzb) (S110 in FIG. 16)]
FIG. 17 is a flowchart for explaining the correction processing of the coordinate information (lxb, lyb, lzb) in the TCP position setting value Fp. This process corresponds to the process of step S110 in the flowchart of FIG.

  First, the TCP position information correction program 122 selects one of the three axes of the tool coordinate system (Xc, Yc, Zc) as a rotation axis (S111). Subsequently, the TCP position information correction program 122 controls the robot 20 so that the selected rotation axis and the optical axis of the imaging device 30 are parallel to each other (S112). Details of the processing are the same as those in the flowchart of FIG. However, unlike the flowchart of FIG. 9, in step S112, the optical axis is not the rotation axis of the mechanical interface coordinate system (Xb, Yb, Zb) but the rotation axis of the tool coordinate system (Xc, Yc, Zc). The robot 20 is controlled to be parallel. Note that when the rotation axis of the tool coordinate system and the optical axis of the imaging device 30 have already been controlled, the process of step S112 can be omitted.

  Subsequently, the TCP position information correction program 122 causes the imaging device 30 to capture the TCP position and measures the TCP position in the generated image data (S113). Next, the TCP position information correction program 122 rotates the tool TL by a certain angle on a plane having the rotation axis as a normal line (S114). For example, when the Z axis is selected as the rotation axis, the TCP position information correction program 122 outputs a command to rotate the tool TL about 10 degrees around the Z axis around the TCP position setting value Fp. When the rotation ends, the TCP position information correction program 122 causes the imaging device 30 to capture the TCP position, and measures the TCP position in the generated image data (S115). At this time, the robot 20 is controlled from the initial state to a posture rotated by 10 degrees around the Z axis around the TCP position setting value Fp.

  Here, the TCP position information correction program 122 performs the processes of steps S114 and S115 again when the number of rotations of the tool TL by a certain angle is within N (YES in S116). On the other hand, when the number of rotations exceeds N (NO in S116), the TCP position information correction program 122 calculates the rotation center position based on the N + 1 measurement positions of the TCP position in the image data (S117). ). Specifically, for example, based on N + 1 measurement positions, a circle having the measurement position as an arc is detected, and the center of the circle is calculated as the rotation center position. For example, the TCP position information correction program 122 calculates a circle having N + 1 measurement positions as arcs by least square estimation. Generally, given any three different points, an equation of a circle passing through the three points can be calculated. For this reason, for example, N = 2 is set. However, the present invention is not limited to this example, and N may be set to any value of 2 or more.

  When the coordinate information (lxb, lyb, lzb) of the TCP position setting value Fp matches the actual TCP position, N + 1 measurement positions in the image data indicate the same position. On the other hand, when the coordinate information (lxb, lyb, lzb) of the TCP position setting value Fp does not match the actual TCP position, the measurement positions of N + 1 TCPs in the image data draw an arc. At this time, the center of the circle corresponds to the coordinate information (lxb, lyb, lzb) of the TCP position setting value Fp, and the radius of the circle corresponds to the correction amount of the coordinate information (lxb, lyb, lzb) of the TCP position setting value Fp. To do.

  Therefore, the TCP position information correction program 122 uses the difference vector between the center position of the circle and the measurement position (S113) of the TCP position before the rotation of the tool TL as the coordinate information (lxb, lyb, lzb) of the TCP position setting value Fp. ) As a correction vector (S118). At this time, for example, when the Z axis is selected as the rotation axis, the correction value related to the coordinate information of the X axis and the Y axis is calculated. Subsequently, the TCP position information correction program 122 corrects the coordinate information (lxb, lyb, lzb) of the TCP position setting value Fp based on the calculated correction value (S119).

  Subsequently, when the correction amount of the TCP position exceeds a certain threshold (NO in S120), the process returns to step S114, and correction value calculation processing is performed again. That is, the correction amount calculation process is repeatedly performed until the radius of the circle indicating the TCP position correction amount becomes equal to or smaller than the threshold value. Thereby, the correction accuracy of the TCP position setting value Fp is improved. If the correction amount is equal to or smaller than the threshold (YES in S120) and two rotation axes are not selected (NO in S121), the TCP position information correction program 122 is the axis that has been selected as the rotation axis. A different axis is selected (S111), and the processes of steps S112 to S120 are performed. On the other hand, when the correction amount is equal to or smaller than the threshold value (YES in S120) and two axes have been selected (YES in S121), the TCP position information correction program 122 uses the coordinate information (lxb, lyb, lzb) in the TCP position information. ) Correction processing ends.

[Specific example: Correction processing of coordinate information (lxb, lyb, lzb)]
FIG. 18 is a first diagram illustrating a specific example of the correction process of the coordinate information (lxb, lyb, lzb). In this example, the rotation axis is, for example, the Z axis. The tool TL is rotated, for example, by 10 degrees around the Z axis with the coordinate information (lxb, lyb, lzb) of the TCP position setting value Fp as the center. In the example of FIG. 18, the coordinate information (lxb, lyb, lzb) of the TCP position setting value Fp is different from the coordinate information of the actual TCP position pp. Therefore, in the example of FIG. 18, the actual TCP position pp draws an arc with the rotation of the tool TL.

  FIG. 19 is a second diagram illustrating a specific example of the correction process of the coordinate information (lxb, lyb, lzb). FIG. 19 illustrates the measurement position of the actual TCP position pp in each image data gg1 generated in the correction process of the coordinate information (lxb, lyb, lzb). In FIG. 19, the direction xx is the X-axis direction of the image data gg1, and the direction yy is the Y-axis direction of the image data gg1.

  Black triangles pp0 to pp2 of the image data gg1 in FIG. 19 indicate actual measurement positions of the TCP position pp when the tool TL is rotated around the Z axis. Specifically, the measurement position pp0 is the measurement position of the actual TCP position before the rotation of the tool TL, and the measurement position pp1 is the actual TCP position when the tool TL is rotated about 10 degrees around the Z axis. It is a measurement position. Similarly, the measurement position pp2 is a measurement position of an actual TCP position when the tool TL is further rotated 10 degrees around the Z axis.

  In FIG. 19, a circle tt is calculated based on the three measurement positions pp0 to pp2. The calculated center t0 of the circle tt corresponds to the coordinate information (lxb, lyb, lzb) of the TCP position setting value Fp. Therefore, the vector VV from the center t0 of the circle tt to the measurement position pp0 corresponds to the correction vector of the coordinate information (lxb, lyb, lzb) of the TCP position setting value Fp.

  FIG. 20 is a diagram illustrating the measurement positions pp0 to pp2 of the actual TCP position pp in each image data when the coordinate information (lxb, lyb, lzb) of the TCP position setting value Fp is corrected. In this example, the coordinate information (lxb, lyb, lzb) of the TCP position setting value Fp is corrected to the actual TCP position. For this reason, even if the tool TL is rotationally controlled around the Z axis around the TCP position setting value Fp, the actual TCP position pp does not move. Therefore, in FIG. 20, the measurement positions pp0 to pp2 of the actual TCP position pp indicate the same position.

  As described above, the tool tip point information correction processing in the TCP position information correction program 122 according to the present embodiment uses one of the three axes of the first coordinate system of the tool as the rotation axis, and the light of the imaging apparatus. A first axis control step for controlling in parallel with the axis, and three image data including a tool tip point that can be detected while being rotated around the rotation axis around the set position information is generated by the imaging device An image data generation step; Further, the tool tip point information correction process is a correction of the set position information and the actual position information based on vector information of the center of the circle formed by the image position of the tool tip point in the three image data and the image position. A correction information calculating step for calculating a vector; and a first correction step for correcting the set position information based on the calculated correction vector.

  As described above, the TCP position information correction program 122 can correct the coordinate information in the setting position information of the tool tip point based on the image data generated by the imaging apparatus. Thereby, the TCP position information correction program 122 can correct the coordinate information in a short time without depending on an artificial technique. Further, the TCP position information correction program 122 can correct the coordinate information with high accuracy by measuring the actual position of the tool tip point with high accuracy based on the image data. Further, the TCP position information correction program 122 is based on the image data generated by the imaging device, thereby enabling the coordinate information correction process to be performed even in a work area that is difficult to visually confirm.

  Further, the TCP position information correction program 122 in the present embodiment is configured so that the set position information and the actual position are based on the vector information of the center of the circle formed by the image position of the tool tip point in the image data and the image position. A correction vector with information is calculated. As described above, the TCP position information correction program 122 determines the setting position information of the tool tip point based on the trajectory information of the measurement information of the tool tip point when the robot is rotated around the rotation axis around the setting position information. The correction vector can be calculated easily.

  In the TCP position information correction program 122 according to the present embodiment, the first axis adjustment step, the image data generation step, and the correction information calculation step are different one axis among the three axes of the first coordinate system. Is executed as the rotation axis, and in the first correction step, the set position information is corrected based on the correction vectors of the plurality of rotation axes. Thereby, the TCP position information correction program 122 can correct all the elements of the axes of the coordinate information (lxb, lyb, lzb) in the setting position information of the tool tip point.

  Further, in the TCP position information correction program 122 according to the present embodiment, in the first axis control step, 2 by the imaging device generated by moving the tool by a predetermined distance in each of two axis directions other than the rotation axis. The rotation axis is controlled so that the angle between the rotation axis calculated based on the movement vector of each tool tip point in one image data and the optical axis of the imaging device is reduced. Thereby, the TCP position information correction program 122 can control the rotation axis in parallel with the optical axis of the imaging apparatus in a short time and with high accuracy without depending on an artificial technique. Further, the TCP position information correction program 122 can control the rotation axis in a parallel state based on the image data with high accuracy, and can also convert the rotation axis into a parallel state even in a work area that is difficult to visually confirm. Allows control.

  In the TCP position information correction program 122 according to the present embodiment, the tool tip point information correction processing is further performed before the first axis control step, and the second coordinate system included in the robot body, the tool An inclination information correction step of correcting the design inclination information with the first coordinate system to actual inclination information. Thereby, the TCP position information correction program 122 can correct the inclination information in the setting position information of the tool tip point in addition to the coordinate information in the setting position information of the tool tip point.

  Further, in the TCP position information correction program 122 according to the present embodiment, the tilt information correction step is performed by controlling one of the three axes of the second coordinate system as a rotation axis and parallel to the optical axis of the imaging apparatus. And a control process for controlling the rotation of the first coordinate system so that the same rotation axis in the first coordinate system is parallel to the optical axis of the imaging device based on the design tilt value information. Have The tilt information correction step includes a tilt correction information calculation step of calculating a correction angle to the actual tilt information based on an angle between the rotation axis in the first coordinate system after the rotation control and the optical axis of the imaging device. And a second correction step of correcting the design inclination information based on the correction angle.

  As described above, the TCP position information correction program 122 can correct the inclination information in the setting position information of the tool tip point based on the image data generated by the imaging apparatus. Thereby, the TCP position information correction program 122 can correct the tilt information in a short time without depending on an artificial technique. The TCP position information correction program 122 can correct the tilt information with high accuracy by measuring the actual position of the tool tip with high accuracy. Further, the TCP position information correction program 122 is based on the image data generated by the imaging device, thereby enabling the inclination information correction process to be performed even in a work area that is difficult to visually confirm.

  Further, in the TCP position information correction program 122 according to the present embodiment, the tilt information correction step is further executed using another one of the three axes of the second coordinate system as the rotation axis. Thereby, the TCP position information correction program 122 can correct all the elements of the inclination information (α, β, γ) in the setting position information of the tool tip point.

  In the TCP position information correction program 122 according to the present embodiment, while the correction amount based on the correction vector calculated in the correction information calculation step exceeds the reference correction amount, the first axis adjustment step, the image data generation step, And the correction information calculation process is repeated. Thereby, the TCP position information correction program 122 can improve the correction accuracy of the setting position information of the tool tip point.

  In the TCP position information correction program 122 according to the present embodiment, the correction vector is a vector on two axes other than the rotation axis. Thereby, for example, when the Z-axis is selected as the rotation axis, the TCP position information correction program 122 can correct the X-axis and Y-axis elements in the coordinate information of the setting position information of the tool tip point. Similarly, when another axis is selected as the rotation axis, the two-axis elements other than the rotation axis are corrected.

  The above embodiment is summarized as follows.

(Appendix 1)
In a tool-readable tool tip information correction program for executing a tool tip information correction process for correcting tool tip point setting position information of a tool attached to a robot body to actual position information,
The tool tip point information correction process includes:
A first axis control step of controlling one of the three axes of the first coordinate system of the tool as a rotation axis and parallel to the optical axis of the imaging device;
An image data generation step of generating, by the imaging device, three image data including the tool tip point that can be detected while rotating the rotation axis around the set position information;
Correction for calculating a correction vector between the set position information and the actual position information based on vector information of the center of a circle formed by the image position of the tool tip point in the three image data and the image position Information calculation process;
A tool tip point information correction program, comprising: a first correction step for correcting the set position information based on the calculated correction vector.

(Appendix 2)
In Appendix 1,
The first axis adjustment step, the image data generation step, and the correction information calculation step are executed using another one of the three axes of the first coordinate system as a rotation axis,
In the first correction step, a tool tip point information correction program for correcting the set position information based on the correction vectors of a plurality of rotation axes.

(Appendix 3)
In Appendix 1,
In the first axis control step, each tool tip point in two image data by the imaging device generated by moving the tool by a predetermined distance in each of two axial directions other than the rotation axis A tool tip point information correction program for controlling the rotation axis so that an angle between the rotation axis calculated based on a movement vector and the optical axis of the imaging apparatus is reduced.

(Appendix 4)
In any one of supplementary notes 1 to 3,
The tool tip point information correction process further includes:
An inclination information correction step that is performed before the first axis control step and corrects design inclination information of the second coordinate system of the robot body and the first coordinate system of the tool into actual inclination information. Tool tip point information correction program.

(Appendix 5)
In Appendix 4,
The inclination information correction step includes
A second axis control step of controlling one of the three axes of the second coordinate system as a rotation axis and parallel to the optical axis of the imaging device;
A control step of controlling rotation of the first coordinate system based on the design inclination value information so that the same rotation axis in the first coordinate system is parallel to the optical axis of the imaging device;
An inclination correction information calculating step of calculating a correction angle to the actual inclination information based on an angle between the rotation axis in the first coordinate system after the rotation control and the optical axis of the imaging device;
A tool tip point information correction program, comprising: a second correction step of correcting the design inclination information based on the correction angle.

(Appendix 6)
In Appendix 4 or 5,
The inclination information correction step is a tool tip point information correction program that is executed using another one of the three axes of the second coordinate system as a rotation axis.

(Appendix 7)
In any one of supplementary notes 1 to 6,
Tool tip where the first axis adjustment step, the image data generation step, and the correction information calculation step are repeated while the correction amount based on the correction vector calculated in the correction information calculation step exceeds a reference correction amount Point information correction program.

(Appendix 8)
In any one of appendices 1 to 7,
The tool tip point information correction program, wherein the correction vector is a vector on two axes other than the rotation axis.

(Appendix 9)
A tool tip point information correction device for correcting set position information of a tool tip point of a tool attached to a robot body to actual position information,
A first axis control means for controlling one of the three axes of the first coordinate system of the tool as a rotation axis and parallel to the optical axis of the imaging device;
Image data generating means for generating, by the imaging device, three image data including the tool tip point represented in a detectable manner while rotating around the rotation axis around the set position information;
Correction for calculating a correction vector between the set position information and the actual position information based on vector information of the center of a circle formed by the image position of the tool tip point in the three image data and the image position Information calculation means;
A tool tip point information correction apparatus comprising: a first correction unit that corrects the set position information based on the calculated correction vector.

(Appendix 10)
A tool tip information correction method for correcting the set position information of the tool tip of a tool attached to the robot body to actual position information,
A first axis control step of controlling one of the three axes of the first coordinate system of the tool as a rotation axis and parallel to the optical axis of the imaging device;
An image data generation step of generating, by the imaging device, three image data including the tool tip point that can be detected while rotating around the rotation axis around the set position information;
Correction for calculating a correction vector between the set position information and the actual position information based on vector information of the center of a circle formed by the image position of the tool tip point in the three image data and the image position Information calculation process;
A tool tip point information correction method comprising: a first correction step of correcting the set position information based on the calculated correction vector.

10: Robot control device, 50: Teaching board, 40: Image processing device, RA: Robot body, TL: Tool, 30: Imaging device

Claims (9)

In a tool-readable tool tip information correction program for executing a tool tip information correction process for correcting tool tip point setting position information of a tool attached to a robot body to actual position information,
The tool tip point information correction process includes:
A first axis control step of controlling one of the three axes of the first coordinate system of the tool as a rotation axis and parallel to the optical axis of the imaging device;
An image data generation step of generating, by the imaging device, three image data including the tool tip point that can be detected while rotating around the rotation axis around the set position information;
Correction for calculating a correction vector between the set position information and the actual position information based on vector information of the center of a circle formed by the image position of the tool tip point in the three image data and the image position Information calculation process;
A tool tip point information correction program, comprising: a first correction step for correcting the set position information based on the calculated correction vector. The claim 1, further comprising:
The first axis adjustment step, the image data generation step, and the correction information calculation step are executed using another one of the three axes of the first coordinate system as a rotation axis,
In the first correction step, a tool tip point information correction program for correcting the set position information based on the correction vectors of a plurality of rotation axes. In claim 1 or 2,
In the first axis control step, each tool tip point in two image data by the imaging device generated by moving the tool by a predetermined distance in each of two axial directions other than the rotation axis A tool tip point information correction program for controlling the rotation axis so that an angle between the rotation axis calculated based on a movement vector and the optical axis of the imaging apparatus is reduced. In any one of Claims 1 thru | or 3,
The tool tip point information correction process further includes:
An inclination information correction step that is performed before the first axis control step and corrects design inclination information of the second coordinate system of the robot body and the first coordinate system of the tool into actual inclination information. Tool tip point information correction program. In claim 4,
The inclination information correction step includes
A second axis control step of controlling one of the three axes of the second coordinate system as a rotation axis and parallel to the optical axis of the imaging device;
A control step of controlling rotation of the first coordinate system based on the design inclination value information so that the same rotation axis in the first coordinate system is parallel to the optical axis of the imaging device;
An inclination correction information calculating step of calculating a correction angle to the actual inclination information based on an angle between the rotation axis in the first coordinate system after the rotation control and the optical axis of the imaging device;
A tool tip point information correction program, comprising: a second correction step of correcting the design inclination information based on the correction angle. In claim 4 or 5,
The inclination information correction step is a tool tip point information correction program that is executed using another one of the three axes of the second coordinate system as a rotation axis. In any one of Claims 1 thru | or 6.
Tool tip where the first axis adjustment step, the image data generation step, and the correction information calculation step are repeated while the correction amount based on the correction vector calculated in the correction information calculation step exceeds a reference correction amount Point information correction program. A tool tip point information correction device for correcting set position information of a tool tip point of a tool attached to a robot body to actual position information,
A first axis control means for controlling one of the three axes of the first coordinate system of the tool as a rotation axis and parallel to the optical axis of the imaging device;
Image data generating means for generating, by the imaging device, three image data including the tool tip point represented in a detectable manner while rotating around the rotation axis around the set position information;
Correction for calculating a correction vector between the set position information and the actual position information based on vector information of the center of a circle formed by the image position of the tool tip point in the three image data and the image position Information calculation means;
A tool tip point information correction apparatus comprising: a first correction unit that corrects the set position information based on the calculated correction vector. A tool tip information correction method for correcting the set position information of the tool tip of a tool attached to the robot body to actual position information,
A first axis control step of controlling one of the three axes of the first coordinate system of the tool as a rotation axis and parallel to the optical axis of the imaging device;
An image data generation step of generating, by the imaging device, three image data including the tool tip point that can be detected while rotating around the rotation axis around the set position information;
Correction for calculating a correction vector between the set position information and the actual position information based on vector information of the center of a circle formed by the image position of the tool tip point in the three image data and the image position Information calculation process;
A tool tip point information correction method comprising: a first correction step of correcting the set position information based on the calculated correction vector.

Images