Robot system, robot, robot control device, robot control method, and robot control program
A robot system includes a camera that captures an image of a movable unit to create a camera image; a storage unit that stores a shape model of the movableunit; a matching processing unit that detects, based on matching between the camera image and the shape model, position and orientation of the Movable unit in a camera coordinate system.
Abstract
A robot system includes a camera that captures an image of a movable unit to create a camera image; a storage unit that stores a shape model of the movable unit; a matching processing unit that detects, based on matching between the camera image and the shape model, position and orientation of the movable unit in a camera coordinate system; a control information acquisition unit that acquires information of position and orientation of the movable unit in a robot coordinate system recognized by a motion control unit that controls motion of the movable unit; 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 in the camera coordinate system and the position and orientation of the movable unit in the robot coordinate system.