Patent ID: 9073215
Filing Date: 2015-07-07
Classification: B25J,G05B

Abstract:
1. A robot system comprising: a robot including a camera unit shooting an object in a container, a hand gripping the object, and a contact detector detecting that the hand contacts the container; and a robot control device controlling the robot, wherein the robot control device includes: 1) a control unit moving the hand toward the container, and causing the hand to contact the container; 2) a contact detection unit detecting by the contact detector that the hand contacts the container, and finding a contact position thereof; 3) a first processing unit calculating a position of the container from a stereo image of the container acquired by the camera unit; 4) a second processing unit calculating a difference between the position of the container calculated by the first processing unit and the contact position found by the contact detection unit as a correction amount; and 5) a third processing unit correcting information on a position in a height direction of the object in the container based on the correction amount.