| 摘要 |
A robot system (10) includes: a camera (14) that captures an image of a movable unit (20) to create a camera image; a storage unit (22) that stores a shape model (30) of the movable unit (20) ; a matching processing unit (152) that detects, based on matching between the camera image and the shape model (30), position and orientation of the movable unit (20) in a camera coordinate system; a control information acquisition unit (150) that acquires information of position and orientation of the movable unit (20) in a robot coordinate system recognized by a motion control unit that controls motion of the movable unit (20); and a coordinate system calibration unit that reconciles the camera coordinate system and the robot coordinate system based on the position and orientation of the movable unit (20) in the camera coordinate system and the position and orientation of the movable unit (20) in the robot coordinate system. |
