ROBOT SYSTEM, ROBOT CONTROL DEVICE, ROBOT HAND AND METHOD FOR CONTROLLING ROBOT

摘要

There are provided a robot system 100 capable of taking an object OBJ from a container BOX even if an error is in a position of the object OBJ acquired from a camera unit 130, a robot control device 120, a robot hand 108 and a method for controlling a robot. A method for controlling a robot 110 includes a step of calculating information on a position or orientation of the container BOX as first information based on a stereo image of the container BOX, a step of causing the hand 108 to contact the container BOX and calculating information on the position or orientation of the container BOX as second information, a step of calculating information on a position or orientation of the object OBJ based on a stereo image of the object OBJ, and a step of correcting the information on the position or orientation of the object OBJ based on the first and second information.