Teaching Apparatus And Robot System

Abstract

A teaching apparatus for a robot which moves a work object so that the work object is aligned at a predetermined position and attitude, includes a display section that displays a screen for setting the predetermined position and attitude, an operation section that allows the screen to be operated, and a computation section that computes the predetermined position and attitude, in which the screen includes a first screen for operating the robot so as to move the work object into an imaging range of an imaging device, and a second screen for moving the work object so that the work object is aligned at a target position and attitude, and in which the computation section computes the predetermined position and attitude by using a captured image obtained by the imaging device imaging the work object, and the target position and attitude.

What is claimed is: 
     
         1 . A teaching apparatus for a robot configured to move a work object, the teaching apparatus comprising:
 a memory configured to store computer-readable instructions;   a display configured to display the work object and teaching instructions for the robot;   a screen configured to display operating commands of the robot;   an input device configured to allow the screen to accept the operating commands; and   a processor configured to execute the computer-readable instructions so as to:
 cause an imaging device to capture an image of the work object that is placed in an image capturing region, the imaging device being configured to output the captured image; 
 cause the screen to accept the operating commands via the input device so as to operate a hand of the robot such that the hand grasps the work object; and 
 calculate a position and attitude of the work object based on a position and attitude of the hand when the hand grasps the work object. 
   
     
     
         2 . The teaching apparatus according to  claim 1 ,
 wherein the processor is configured to define the position and attitude of the work object as a reference position and attitude of the work object with respect to the image capturing region when the work object is placed in the image capturing region and is displayed in the screen.   
     
     
         3 . The teaching apparatus according to  claim 1 ,
 wherein the work object is configured with first and second work objects different from each other,   wherein the processor is configured to define a position and attitude of the first work object as a reference position and attitude of the first work object with respect to the image capturing region when the first work object is placed in the image capturing region and is displayed on the screen, and   the processor is configured to calculate a position and attitude of the second work object that is placed in the image capturing region by using the position and attitude of the hand when the hand grasps the first work object and the reference position and attitude of the first work object.   
     
     
         4 . The teaching apparatus according to  claim 1 ,
 wherein the screen includes a region in which the captured image obtained by the imaging device is displayed.   
     
     
         5 . The teaching apparatus according to  claim 1 ,
 wherein either or both of the display and the screen include a region in which a work procedure is displayed.   
     
     
         6 . A robot system comprising:
 a robot having a hand, the robot being configured to move a work object; and   a teaching apparatus configured to teach a position and attitude of the work object to the robot, the teaching apparatus includes:
 a memory configured to store computer-readable instructions; 
 a display configured to display the work object and teaching instructions for the robot; 
 a screen configured to display operating commands of the robot; 
 an input device configured to allow the screen to accept the operating commands; and 
 a processor configured to execute the computer-readable instructions so as to:
 cause an imaging device to capture an image of the work object that is placed in an image capturing region, the imaging device configured to output the captured image; 
 cause the screen to accept the operating commands via the input device so as to operate the hand of the robot such that the hand grasps the work object; and 
 calculate the position and attitude of the work object based on a position and attitude of the hand when the hand grasps the work object. 
 
   
     
     
         7 . The robot system according to  claim 6 ,
 wherein the processor is configured to define the position and attitude of the work object as a reference position and attitude of the work object with respect to the image capturing region when the work object is placed in the image capturing region and is displayed in the screen.   
     
     
         8 . The robot system according to  claim 6 ,
 wherein the work object is configured with first and second work objects different from each other,   wherein the processor is configured to define a position and attitude of the first work object as a reference position and attitude of the first work object with respect to the image capturing region when the first work object is placed in the image capturing region and is displayed on the screen, and   the processor is configured to calculate a position and attitude of the second work object that is placed in the image capturing region by using the position and attitude of the hand when the hand grasps the first work object and the reference position and attitude of the first work object.   
     
     
         9 . The robot system according to  claim 6 ,
 wherein the screen includes a region in which the captured image obtained by the imaging device is displayed.   
     
     
         10 . The robot system according to  claim 6 ,
 wherein either or both of the display and the screen include a region in which a work procedure is displayed.