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

摘要

A robot system of the present invention comprises a camera which develops a camera image by photographing an operating unit; a memory unit which memorizes the shape model of the operating unit; a matching processing unit which detects the position and direction of the operating unit in a camera coordinate system from matching between the camera image and the shape model; a control information obtaining unit which obtains information on the position and direction of the operating unit in a robot coordinate system that is recognized by an operating control unit for controlling the movement of the operating unit; and a coordinate calibrating unit which makes the camera coordinate system correspond to the robot coordinate system based on the position and direction of the operating unit in the camera coordinate system and the position and direction of the operating unit in the robot coordinate system. [Reference numerals] (10) Robot system; (14) Camera; (15) Robot control device; (150) Control information obtaining unit; (151) Coordinate calibrating unit; (152) Matching processing unit; (153) Image obtaining unit; (154) Output unit; (20) Operating part; (21) Operating control unit; (22) Memory unit