ROBOT SYSTEM, ROBOT, ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD AND ROBOT CONTROL PROGRAM

摘要

PROBLEM TO BE SOLVED: To more quickly execute calibration at low costs.SOLUTION: A robot system comprises: a movable section 20 capable of changing its position and orientation; a camera 14 that images the movable section 20 and generates a camera image 40; a storage section 22 for storing a shape model 30 of the movable section 20; a match processing section 152 for detecting the position and the orientation of the movable section 20 in a camera coordinate system from a match between the camera image 40 and the shape model 30; a control information acquisition section 150 for acquiring information of the position and the orientation of the movable section 20 in a robot coordinate system recognized by an operation control section 21 for controlling motion of the movable section 20; and a coordinate calibration section 151 for performing mapping between the camera coordinate system and the robot coordinate system on the basis of the position and the orientation of the movable section 20 in the camera coordinate system and the position and the orientation of the movable section 20 in the robot coordinate system.