ROBOT PICKING SYSTEM, CONTROL DEVICE AND METHOD OF MANUFACTURING A WORKPIECE

摘要

A robot picking system 1 includes a robot R including a gripper 11 that picks up a target work WO in a first stocker 2 accommodating a plurality of works W, a control device 4 that controls an operation of the robot R, and an image acquiring device 6 that acquires image data including information related to the target work WO. The control device 4 includes a trajectory calculating unit 18 that sets a first trajectory TI including a first zone Zl in which a posture of the gripper 11 is changed and a second zone Z2 in which the gripper 11 having the changed posture approaches the target work WO that is a picking-up target. Most Illustrative Drawing: Fig. 5 25