Control device, robot, robot system, and control method

摘要

A control device includes a reception unit that receives first operation information and second operation information different from the first operation information; and a process unit that instructs a robot to execute operations based on the first operation information and the second operation information using a plurality of captured images of an imaged target object, the images being captured multiple times while the robot moves from a first posture to a second posture different from the first posture.

主权项

1. A control device comprising:
a camera that captures a plurality of images of a target object, the images being captured multiple times while an end effector of a robot having the target object moves from a first posture to a second posture different from the first posture, the plurality of images including a first image of a first part of the target object and a second image of a second part of the target object, the second part being different than the first part; and a controller that is configured to:
receive first operation information and second operation information different from the first operation information;calculate first and second features based on the first and second images at first and second positions of the target object, respectively; andhave a first target feature that corresponds to a first ideal image of the first part of the target object at the first position and have a second target feature that corresponds to a second ideal image of the second part of the target object at the second position, wherein the first and second features and the first and second target features correspond to an area, a position, a length, or an inclination of the first and second parts of the target object, the controller is configured to control the end effector by visual servoing so as to move the first part by making the first feature closer to the first target feature according to the first operation information, and the controller is configured to control the end effector by the visual servoing so as to move the second part by making the second feature closer to the second target feature according to the second operation information.