Abstract: A program transfer system includes: a communication unit communicating with a robot and outputting a result of the communication; a determination unit checking a work program provided in the robot, based on the result of the communication, and determining whether to import a different target work program from the work program or not; a program import unit importing the target work program to the robot when the determination unit determines the importing; a collection unit collecting work data of complete work from the robot; and a program update unit performing machine learning using the work data collected by the collection unit, and updating the target work program, based on a result of the machine learning.

Abstract: A program transfer system includes: a communication unit communicating with a robot and outputting a result of the communication; a determination unit checking a work program provided in the robot, based on the result of the communication, and determining whether to import a different target work program from the work program or not; a program import unit importing the target work program to the robot when the determination unit determines the importing; a collection unit collecting work data of complete work from the robot; and a program update unit performing machine learning using the work data collected by the collection unit, and updating the target work program, based on a result of the machine learning.

Abstract: A control device comprising a processor configured to receive information on a captured image from an imaging device capturing an image from an operator, control a robot including a robot arm on which a stamp that forms a marker on an object and an end effector that performs work on a work target are allowed to be provided by being replaced, perform correlation between a robot coordinate system that is a coordinate system relating to the robot and an image coordinate system that is a coordinate system relating to the captured image, and perform the correlation based on a plurality of coordinates of a predetermined portion of the robot arm in the robot coordinate system and a plurality of coordinates of the plurality of markers in the image coordinate system when the plurality of markers are formed on the object by the stamp.

Abstract: A robot includes a movable part, and the movable part performs an action based on a position of a first marker obtained using first position and attitude of the movable part when a first image containing the first marker is captured by an imaging unit provided in the movable part and second position and attitude of the movable part when a second image containing the first marker is captured by the imaging unit.

Abstract: A robot includes an instruction receiving unit that receives a calibration initiation instruction, and an arm that changes a positional relationship between a marker which indicates a reference point and a capturing unit when the calibration initiation instruction is received, in which the calibration of a coordinate system of the capturing unit and a coordinate system of the robot is performed on the basis of an image in which the marker is captured by the capturing unit after the positional relationship between the capturing unit and the marker changes.

Abstract: A control device comprising a processor configured to receive information on a captured image from an imaging device capturing an image from an operator, control a robot including a robot arm on which a stamp that forms a marker on an object and an end effector that performs work on a work target are allowed to be provided by being replaced, perform correlation between a robot coordinate system that is a coordinate system relating to the robot and an image coordinate system that is a coordinate system relating to the captured image, and perform the correlation based on a plurality of coordinates of a predetermined portion of the robot arm in the robot coordinate system and a plurality of coordinates of the plurality of markers in the image coordinate system when the plurality of markers are formed on the object by the stamp.

Abstract: A control device is capable of controlling each of a robot having a robot arm, and an imaging portion which is capable of capturing a first reference marker, a second reference marker, and a third reference marker, any one of the imaging portion, the first reference marker, the second reference marker, and the third reference marker is provided in the robot, and a posture of a reference surface parallel to a plane which passes through the first reference marker, the second reference marker, and the third reference marker, is acquired based on a first image in which the first reference marker is captured by the imaging portion, a second image in which the second reference marker is captured by the imaging portion, and a third image which captures the third reference marker by the imaging portion.

Abstract: A control device comprising a processor wherein the processor is configured to receive information relating to a first captured image from a first camera capable of capturing an image, perform a command relating to drive of the robot having a hand holding a workpiece based on the information, perform correlation between a robot coordinate system which is a coordinate system relating to a robot and a first image coordinate system which is a coordinate system relating to the first captured image, and perform the correlation, based on a coordinate in the robot coordinate system of a predetermined site of the hand holding the workpiece when the workpiece is located at each of a plurality of positions inside an imaging region of the first camera and a coordinate in the first image coordinate system of the workpiece when the workpiece is located at each of the plurality of positions.

Abstract: A robot includes: a local coordinate system deriving portion which derives a local coordinate system having two shafts which are parallel to a work plane and orthogonal to each other, based on an image in which markers illustrating three or more points on the work plane which is not horizontal are captured; and a control parameter obtaining portion which obtains control parameters via the local coordinate system.

Abstract: A robot includes an instruction receiving unit that receives a calibration initiation instruction, and an arm that changes a positional relationship between a marker which indicates a reference point and a capturing unit when the calibration initiation instruction is received, in which the calibration of a coordinate system of the capturing unit and a coordinate system of the robot is performed on the basis of an image in which the marker is captured by the capturing unit after the positional relationship between the capturing unit and the marker changes.

Abstract: A control apparatus, a robot and a robot system to which settings for calibration can be easily and appropriately made are to be provided. A control apparatus that can control driving of a robot, an imaging unit and a display unit based on input of an input unit, includes a display control unit that allows the display unit to display an input window for inputting a robot as an object to be controlled, and allows the display unit to display an imaging unit input part that guides input of an attachment position of the imaging unit corresponding to the input robot, and a calibration control unit that performs a calibration of correlating a coordinate system of the robot and a coordinate system of the imaging unit based on the input attachment position of the imaging unit.

Abstract: A control apparatus that is connectable to a memory that stores computer-readable instructions, comprising a processor that is configured to execute the computer-readable instructions so as to control driving of a robot and a camera, create setting details on an image processing sequence containing image processing of a captured image captured by the camera, and setting details on a calibration of correlating a coordinate system of the robot and a coordinate system of the camera, and call up the image processing sequence in creation of the setting details on the calibration.

Abstract: A control device, which controls a robot having a movable unit including a plurality of arms, includes a processor that performs calibration between a coordinate system of an imaging unit disposed in an arm different from an arm positioned on a most distal side of the movable unit and a coordinate system of the robot. The processor performs the calibration, based on a captured image obtained by causing the imaging unit to image a marker.

Abstract: A control device, which controls a robot having a movable unit including an arm provided with an imaging unit, includes a processor that obtains a posture of the imaging unit by translating the arm. The processor obtains the posture of the imaging unit, based on a direction of translating the arm and a movement direction in a coordinate system of the imaging unit in response to the translation of the arm.

Abstract: A robot includes a movable part, and the movable part performs an action based on a position of a first marker obtained using first position and attitude of the movable part when a first image containing the first marker is captured by an imaging unit provided in the movable part and second position and attitude of the movable part when a second image containing the first marker is captured by the imaging unit.

Abstract: A control device is capable of controlling each of a robot having a robot arm, and an imaging portion which is capable of capturing a first reference marker, a second reference marker, and a third reference marker, any one of the imaging portion, the first reference marker, the second reference marker, and the third reference marker is provided in the robot, and a posture of a reference surface parallel to a plane which passes through the first reference marker, the second reference marker, and the third reference marker, is acquired based on a first image in which the first reference marker is captured by the imaging portion, a second image in which the second reference marker is captured by the imaging portion, and a third image which captures the third reference marker by the imaging portion.

Abstract: A robot performs, after i-th (i is a natural number) work, i+1-th work different from the i-th work and performs, after j-th (j is a natural number satisfying j?i) work, j+1-th work different from the j-th work. The robot performs the i+1-th work after the i-th work without changing information concerning correction in a joint of the robot during the i-th work, performs robot calibration after the j-th work, and performs the j+1-th work after performing the robot calibration.

Abstract: An operation portion elevates or lowers imaging units of a robot in response to the user's operation of the operation portion, and when the robot is moved from a first work stand to a second work stand which have different heights, a control unit determines whether the difference between the height of the imaging units before the moving of the robot and the height of the second work stand is present in a predetermined range, and when the control unit determines that the difference is not present in the predetermined range, a display unit controls a display device to display information that instructs a user to change the height of the imaging units via the operation portion.

Abstract: A robot includes: a local coordinate system deriving portion which derives a local coordinate system having two shafts which are parallel to a work plane and orthogonal to each other, based on an image in which markers illustrating three or more points on the work plane which is not horizontal are captured; and a control parameter obtaining portion which obtains control parameters via the local coordinate system.

Abstract: In order to provide a robot which easily calibrates a manipulator, a robot includes an arm and a force sensor, in which the arm is calibrated by causing the arm to take a plurality of attitudes on the basis of an output value from at least the force sensor in a state in which a part of a first member attached to a tip of the arm is moved so that a distance between the part and a second member becomes a distance of 1 for each of a plurality of second members, the part being provided at a position which is not present on a rotation axis of the tip of the arm.