Robot control system, robot system and program

摘要

A robot control system includes a processing unit which performs visual servoing based on a reference image and a picked-up image, a robot control unit which controls a robot based on a control signal, and a storage unit which stores the reference image and a marker. The storage unit stores, as the reference image, a reference image with marker in which the marker is set in an area of a workpiece or a hand of the robot. The processing unit generates, based on the picked-up image, a picked-up image with marker in which the marker is set in an area of the workpiece or the hand of the robot, performs visual servoing based on the reference image with marker and the picked-up image with marker, generates the control signal, and outputs the control signal to the robot control unit.

主权项

1. A robot control system comprising:
a processor which performs visual servoing based on a reference image representing a target position of a robot and a picked-up image of the robot picked up by an image pickup member; a robot contoller which controls the robot based on a control signal for the robot outputted from the processor; and a storage which stores information of the reference image and a marker for the visual servoing, wherein the storage stores a marker reference image, which has the marker, as the reference image, and the marker is provided at a hand of the robot, and the processor generates a marker picked-up image, which has the marker, based on the picked-up image in which the hand with the marker is present, performs the visual servoing based on the marker reference image and the marker picked-up image, generates the control signal, and outputs the control signal to the robot controller.