Patent ID: 8355816

Claim:
an action teaching system to teach a grasping action to a robot having a robot arm including a hand to grasp a work object, comprising: an image-capturing device; a range measuring device that measures a distance to an object; a display device; an input device that receives an input operation by an operator; a database in which grasping patterns are stored, the grasping patterns being applicable by the hand to a plurality of predetermined shape models; means for displaying a captured image of a working space including the work object obtained by the image capturing device on the display device; means for receiving an operation to specify a part of the work object to be grasped by the hand as an operation to specify a recognition area including the part in two dimensions on an image of the work object displayed on the display device by using the input device; means for receiving an operation to specify a predetermined shape model to be applied to the part from among the plurality of predetermined shape models through the input device; means for fitting the predetermined shape model specified by the operator onto 3D position data of a space corresponding to the recognition area obtained by using the range measuring device; and means for selecting at least one grasping pattern applicable to grasping of the work object by searching the database based on the predetermined shape model specified by the operator and a fitting result by the means for fitting.