A robot programming device capable of significantly reducing operation time by an operator required for designating processed portions, and generating a robot program for moving a robot between each processed portion in an appropriate order, without depending on skill or experience of the operator. The programming device is configured to: locate three-dimensional models of a robot and a workpiece in a virtual space; extract shape features from the three-dimensional model of the workpiece; set reference positions of the shape features and the robot; determine a movement order for moving the robot between the shape features based on the reference positions, based on the reference positions of the shape features and the robot; and generate a motion program so that the robot moves the tool along the shape feature and the robot is moved between the shape features according to the determined movement order.

A method for determining a position of a workpiece includes: acquiring image data of a workpiece via a camera which defines an optical axis parallel to an impact direction of a tool in a z-direction; searching for a reference structure of the workpiece using the acquired image data; determining a current position of at least one point of the structure in an x/y direction relative to the optical axis; comparing the current position with a nominal position thereof;

generating commands to place the tool to an area of the workpiece to be machined; and, determining the current position in the z-direction of the optical axis by determining a current x/y image size of the structure and by determining a distance of the structure from the camera by comparison with the known x/y size of the structure and considering the distance of the structure from the camera when generating the commands.

A control device sets a relative relation amount between a plurality of target objects that are to be final objectives, repeatedly acquires observation data from a sensor and calculates the relative relation amount between the plurality of target objects existing in the environment from the acquired observation data. Further, the control device determines a series of the relative relation amounts in a state that is to be an objective from the relative relation amount at a time point at which control of the behavior starts until the relative relation amount as the final objectives is realized, and repeatedly determines control instructions so as to change the relative relation amount in a present state calculated from the latest observation data into the relative relation amount in a state of an objective to be transitioned to next. Then, the control device outputs the determined control instruction to a robot device.

A control device sets a relative relation amount between a plurality of target objects that are to be final objectives, repeatedly acquires observation data from a sensor and calculates the relative relation amount between the plurality of target objects existing in the environment from the acquired observation data. Further, the control device determines a series of the relative relation amounts in a state that is to be an objective from the relative relation amount at a time point at which control of the behavior starts until the relative relation amount as the final objectives is realized, and repeatedly determines control instructions so as to change the relative relation amount in a present state calculated from the latest observation data into the relative relation amount in a state of an objective to be transitioned to next. Then, the control device outputs the determined control instruction to a robot device.

A robot system is provided in which various kinds of articles can be treated only with a small number of articles registered in advance, and an unknown article can be further treated as long as the article has a shape close to that of the article registered in advance. A robot system is disclosed which includes: a mechanism unit that manipulates an article to be manipulated; a shape measurement unit that measures a shape of an object; a basic operation storage unit that stores basic operation representing basic operation of the mechanism unit; an operation method calculation unit that deforms the stored basic operation to calculate an operation method on the basis of the shape of the object measured by the shape measurement unit; and a control unit that executes a control of the mechanism unit on the basis of the operation method calculated by the operation method calculation unit.

A robot programming device capable of significantly reducing operation time by an operator required for designating processed portions, and generating a robot program for moving a robot between each processed portion in an appropriate order, without depending on skill or experience of the operator. The programming device is configured to: locate three-dimensional models of a robot and a workpiece in a virtual space; extract shape features from the three-dimensional model of the workpiece; set reference positions of the shape features and the robot; determine a movement order for moving the robot between the shape features based on the reference positions, based on the reference positions of the shape features and the robot; and generate a motion program so that the robot moves the tool along the shape feature and the robot is moved between the shape features according to the determined movement order.

A robot system is provided in which various kinds of articles can be treated only with a small number of articles registered in advance, and an unknown article can be further treated as long as the article has a shape close to that of the article registered in advance. A robot system is disclosed which includes: a mechanism unit that manipulates an article to be manipulated; a shape measurement unit that measures a shape of an object; a basic operation storage unit that stores basic operation representing basic operation of the mechanism unit; an operation method calculation unit that deforms the stored basic operation to calculate an operation method on the basis of the shape of the object measured by the shape measurement unit; and a control unit that executes a control of the mechanism unit on the basis of the operation method calculated by the operation method calculation unit.