ROBOT, ROBOT CONTROL DEVICE AND ROBOT SYSTEM

摘要

PROBLEM TO BE SOLVED: To facilitate control of a robot with a flat surface not being horizontal as a reference.SOLUTION: A robot comprises: a local coordinate system derivation section deriving a local coordinate system having two axes being parallel with a work flat surface and perpendicular to each other on the basis of an image in which markers indicating three points or more in the work flat surface not being horizontal are imaged; and a control parameter acquisition section acquiring control parameters via the local coordinate system.SELECTED DRAWING: Figure 1