Patent ID: 9586317
Date: 2017-03-07
CPC Classifications: B25J,G05B,Y10S

Claim:
1. A robot system comprising: a multi joint robot having an end effector or a portion of a distal link, wherein the end effector or the portion of a distal link has a mark; a camera configured for photographing the mark; and a controlling unit configured to control the multi joint robot and the camera, wherein, the controlling unit is configured to photograph, during a pivotal movement of one of a plurality of joints of the multi joint robot from a predetermined position and orientation, the mark using the camera in order to acquire first photographed data, and to photograph, during a pivotal movement of another of the plurality of joints from the predetermined position and orientation, the mark using the camera in order to acquire second photographed data, and wherein the controlling unit is further configured to identify a joint causing position or orientation offset among the one of the plurality of joints and the other of the plurality of joints of the multi joint robot based on the first and second photographed data.