JP2016182648A - Robot, robot control device and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute easily in a short time, attitude offset of a tool mounted on a robot arm.SOLUTION: A robot includes: an arm having a mounting part where a tool can be mounted; and a tool setting part for acquiring an attitude of the mounting part when the tool mounted on the mounting part has a reference attitude in a work space, and for setting attitude offset to the mounting part of the tool mounted on the mounting part, based on the acquired attitude of the mounting part and the reference attitude.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a robot, a robot control device, and a robot system.

  2. Description of the Related Art Conventionally, processing for setting an offset of a tool with respect to an arm has been performed before processing a workpiece using a tool attached to the arm. Patent Document 1 discloses a method for deriving an offset of a tool with respect to an arm based on a result of performing an operation of aligning a tool attached to an arm with a reference point in real space a plurality of times while changing the posture of the arm. It is disclosed.

JP-A-8-85083

  By the way, when processing a workpiece with a tool, the tool must be brought into contact with the workpiece in an appropriate posture. However, according to the technique described in Patent Document 1, since the offset is derived by aligning one point of the tool with the reference point, the tool position relative to the arm can be set even though the offset of the tool position relative to the arm can be set. The posture offset cannot be set. If the tool posture offset with respect to the workpiece is not set, there is a problem that the posture of the tool with respect to the workpiece cannot be automatically controlled.

  The present invention has been created to solve these problems, and an object thereof is to set a posture offset of a tool with respect to an arm.

The robot for achieving the above-mentioned object acquires the posture of the mounting portion when an arm having a mounting portion on which a tool can be mounted and the tool mounted on the mounting portion becomes a reference posture in a work space, A tool setting unit configured to set a posture of the tool mounted on the mounting unit with respect to the mounting unit based on the acquired posture of the mounting unit and the reference posture.
According to the present invention, when the tool is in the reference posture, the tool posture offset can be set based on the posture of the mounting portion on which the tool is mounted and the reference posture.

  Note that the function of each means described in the claims is realized by hardware resources whose function is specified by the configuration itself, hardware resources whose function is specified by a program, or a combination thereof. The functions of these means are not limited to those realized by hardware resources that are physically independent of each other.

FIG. 1A is a schematic perspective view according to an embodiment of the present invention. FIG. 1B is a block diagram according to an embodiment of the present invention. 2A is a plan view according to the embodiment of the present invention, and FIG. 2B is a side view according to the embodiment of the present invention. 3A is a side view according to the embodiment of the present invention, FIG. 3B is a top view according to the embodiment of the present invention, and FIG. 3C is a bottom view according to the embodiment of the present invention. The flowchart concerning embodiment of this invention. The coordinate diagram concerning embodiment of this invention. FIG. 6A is a schematic perspective view according to the embodiment of the present invention, and FIG. 6B is a block diagram according to the embodiment of the present invention. The top view concerning embodiment of this invention. The flowchart concerning embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the corresponding component in each figure, and the overlapping description is abbreviate | omitted.

1 First Embodiment 1.1 Configuration A robot system according to a first embodiment of the present invention includes a robot 1 and a PC (Personal Computer) 3 as a robot control device, as shown in FIG.

  As shown in a simplified manner in FIG. 1A, the robot 1 is a six-axis robot including six rotary shaft members 121, 122, 123, 124, 125, and 126 in the arm 11. The robot 1 includes an arm 11 including a first arm 111, a second arm 112, a third arm 113, a fourth arm 114, and a fifth arm 115, and a base 110. The base 110 supports the rotating shaft member 121 of the first arm 111. The first arm 111 rotates with respect to the base 110 together with the rotary shaft member 121 around the central axis of the rotary shaft member 121. The first arm 111 supports the rotating shaft member 122 of the second arm 112. The second arm 112 rotates with respect to the first arm 111 together with the rotary shaft member 122 about the central axis of the rotary shaft member 122. The second arm 112 supports the rotating shaft member 123 of the third arm 113. The third arm 113 rotates with respect to the second arm 112 together with the rotation shaft member 123 around the central axis of the rotation shaft member 123. The third arm 113 supports the rotating shaft member 124 of the fourth arm 114. The fourth arm 114 rotates with respect to the third arm 113 together with the rotation shaft member 124 about the central axis of the rotation shaft member 124. The fourth arm 114 supports the rotating shaft member 125 of the fifth arm 115. The fifth arm 115 rotates with respect to the fourth arm 114 together with the rotation shaft member 125 about the central axis of the rotation shaft member 125. The fifth arm 115 supports the rotary shaft member 126 on which the tool is mounted.

  As shown in FIG. 2, a tool chuck 1261 as a mounting portion on which various tools for operating the work are mounted is provided on the rotary shaft member 126 at the tip. As shown in FIG. 2A, the attachment surface of the tool chuck 1261 is radially divided, and a tool-like attachment portion TJ of the tool is attached to the center portion thereof. The center of the tip surface of the tool chuck 1261 is referred to as a tool center point (TCP). The tool chuck 1261 sandwiches and holds the shaft portion TJ of the tool T on the rotating shaft of the rotating shaft member 126. Therefore, when the tool is correctly mounted on the tool chuck 1261, the center axis of the tool attachment portion TJ coincides with the rotation axis of the rotation shaft member 126.

  The coordinate system of the robot 1 used when controlling the robot 1 is fixed in a work space, and each is determined by a horizontal x-axis and a y-axis, and a z-axis with a vertical downward direction as a positive direction. It is a system. Hereinafter, such a coordinate system of the robot 1 is also referred to as a robot coordinate system. Further, the rotation around the z axis is represented by u, the rotation around the y axis is represented by v, and the rotation around the x axis is represented by w. The unit of length of the robot coordinate system is millimeter and the unit of angle is degree.

The position and orientation of the TCP is a reference for the position and orientation of various tools. That is, the offset of an arbitrary tool mounted on the tool chuck 1261 is set with respect to a coordinate system unique to the rotary shaft member 126. The coordinate system unique to the rotation shaft member 126 is determined by the origin of TCP, the z ₆ axis parallel to the rotation axis of the rotation shaft member 126, and the x ₆ axis and y ₆ axis perpendicular to the z ₆ axis. Rotates with member 126. Hereinafter, such a coordinate system unique to TCP is referred to as a TCP coordinate system.

In the present embodiment, a procedure for mounting the tool T shown in FIG. 3 on the tool chuck 1261 and setting the posture offset (posture offset) of the tool T with respect to the TCP will be described. The flat surface TR of the tool T is used as a reference surface serving as a reference for obtaining a posture offset with respect to the TCP, and one point on the reference surface TR is set as a reference point TC. In this embodiment, a three-axis orthogonal coordinate system is defined for the tool T in order to define its posture. The reference point TC and the origin, and z ₇ axis perpendicular to the reference plane TR, included in z ₆ axis flush with TCP coordinate system in a state of mounting the tool T to the tool chuck 1261 perpendicular to the z ₇ axis and x ₇ axis, the coordinate system for the coordinate system defined by a vertical y ₇ axis and x ₇ axis and z ₇ axes defining the attitude of the tool T. Hereinafter, this coordinate system unique to the tool T is referred to as a tool coordinate system. In this embodiment, the direction of each axis of the tool coordinate system in the TCP coordinate system is set as the posture offset of the tool T.

  As illustrated in FIG. 1B, the robot 1 drives a motor 131 that drives the rotary shaft member 121, a motor 132 that drives the rotary shaft member 122, a motor 133 that drives the rotary shaft member 123, and a rotary shaft member 124. A motor 134 that drives the rotary shaft member 125, a motor 136 that drives the rotary shaft member 126, and a control unit 14 that controls the motors 131 to 136. The motors 131 to 136 are constituent elements of the arms 111 to 115. The motors 131 to 136 are servo motors that are feedback controlled so that the difference between the target value and the current value becomes zero. The control unit 14 acquires a target value and a JOG feed instruction indicating the position and orientation of the TCP from the PC 3, and controls the motors 131 to 136 based on the target value and the JOG feed instruction.

  The PC 3 is connected to the robot 1. The PC 3 is installed with a tool set program for setting a tool posture offset. The PC 3 is a computer including a processor (not shown), a main memory (not shown) including a DRAM, an input / output mechanism (not shown), an external storage (not shown) including a nonvolatile memory, a display, a keyboard that functions as the instruction receiving unit 30, and the like. The PC 3 functions as the instruction receiving unit 30, the output unit 33, and the tool setting unit 35 by executing the tool set program stored in the external storage by the processor.

The instruction receiving unit 30 includes a JOG feed instruction such as a start instruction, a stop instruction, an acceleration instruction, and a deceleration instruction for changing the position and posture of an operation point such as TCP without setting a target, a reference posture setting instruction, An offset setting instruction for instructing the timing for setting the posture offset of the tool is received.
The output unit 33 outputs a JOG feed instruction and a target value to the control unit 14 of the robot 1.
The tool setting unit 35 acquires the posture of the TCP according to the offset setting instruction, and derives and sets the posture offset of the tool with respect to the TCP based on the acquired posture of the TCP and the reference posture.

1.2 Tool Set Processing Hereinafter, tool set processing for deriving and setting the posture of the tool T with respect to the TCP, that is, the posture offset will be described with reference to FIG.

  In order to set the tool posture offset, it is necessary to set some reference plane (step S10). The reference plane is a plane for determining the reference posture of the tool. In this embodiment, a work table 9 having a flat upper surface is used as a reference object, the upper surface is used as a reference surface, and a z-axis unit vector (0, 0, 1) parallel to the normal of the reference surface is used as the reference surface posture. Set. The normal direction of the reference plane is not limited to the z-axis direction, and can be arbitrarily set according to the work contents using the tool. The normal direction of the reference plane may be input by the operator, or may be determined in advance and set in the tool set program. When the normal direction of the reference surface is determined in advance by the tool set program, the operator prepares a reference object having a flat surface in which the predetermined direction is the normal direction.

  When the reference surface is set, the operator gives a JOG feed instruction for bringing the reference surface TR of the tool T into surface contact with the reference surface (step S11). That is, the operator places the tool T in the standard posture by bringing the reference surface TR into surface contact with the standard surface by a JOG feed instruction.

When the output unit 33 outputs the JOG feed instruction to the control unit 14 in response to the operator's JOG feed instruction, the arm 11 moves (step S12). For example, from the state where the reference plane TR of the tool T is separated from the reference plane which is the upper surface of the workbench 9 as shown in FIG. 5A, the reference plane TR of the tool T is the reference plane as shown in FIG. When in surface contact with the upper surface of the work table 9, the reference surface TR becomes perpendicular to the z-axis, which is the normal line of the reference surface. In this state, the reference point TC is the origin of the tool coordinate system is located on the reference plane, z ₇ axes of the tool coordinate system is perpendicular to the reference plane, i.e. parallel to the z-axis of the robot coordinate system. Normally, the JOG feed instruction and the corresponding arm operation are repeated, but the repetition is omitted in the flowchart shown in FIG.

  When the reference surface TR of the tool T comes into surface contact with the reference surface, the operator inputs an offset setting instruction (step S13). That is, the operator moves the tool T to the reference posture by the JOG feed instruction, and visually confirms that the tool T has reached the reference posture, and inputs the offset setting instruction.

When the offset setting instruction is input, the offset setting unit 35 derives and sets the tool posture offset based on the normal direction of the reference plane and the TCP posture (step S14). FIG. 5C shows the robot coordinate system (x, y, z) and the TCP coordinate system (x ₆ , y ₆ , z) when the reference surface TR of the tool T is in surface contact with the reference plane as shown in FIG. 5B. ₆₎ and it shows the relationship of the tool coordinate system _{(x 7, y 7, z} 7). In FIG. 5C, it is assumed that the origin of the robot coordinate system is on the upper surface of the work table 9. Attitude offset tool T to be first derived in this state is the direction of the z ₇ axes of tool coordinate system expressed in TCP coordinate system. In a state where the reference surface TR tool T is in surface contact with the reference surface, the direction of the z-axis direction and the robot coordinate system z ₇ axes of the tool coordinate system coincide. The transformation matrix between the robot coordinate system and the TCP coordinate system is naturally known. Accordingly, the offset setting unit 35, the direction of the z-axis of the robot coordinate system with respect to TCP coordinate system in a state where the reference plane TR tool T is in surface contact with the reference surface, the law of direction, that the reference surface TR of z ₇ axis Derived as the line direction.

Direction x ₇ axis of the tool T in this embodiment, by definition, is perpendicular to the z ₇ shaft be on z _6-axis flush with TCP coordinate system. Accordingly, the offset setting unit 35 sets a straight line obtained by projecting the z ₆ axis of the TCP coordinate system on the xy plane of the robot coordinate system in a state where the reference plane TR of the tool T is in surface contact with the reference plane as the x ₇ axis, and z ₇ as _{y 7} axial axis perpendicular to the axis and _{x 7} axes, to derive the direction of the _{x 7} axis and _{y 7} axes in TCP coordinate system. However, depending on the form and application of the tool, it is sufficient if the normal direction of the reference plane of the tool can be set in the TCP coordinate system. Therefore, the tool offset may be terminated by setting the normal direction of the reference surface as the tool posture offset.

  As described above, in the first embodiment, the operator makes the reference plane TR of the tool T the reference plane in a state where the reference plane TR of the tool T is brought into surface contact with the reference plane in accordance with the JOG feed instruction and the tool is in the standard posture. Since the PC 3 is notified of the contact with the surface by an offset setting instruction, the PC 3 can derive the normal direction of the reference surface TR of the tool T in the TCP coordinate system and set the posture offset of the tool T.

2. Second Example In the second example, instead of the operator bringing the reference surface TR of the tool T into surface contact with the reference surface in accordance with a JOG feed instruction to bring the tool into the reference posture, the tool is set to the reference posture using robot vision. A method will be described.

  The robot system of the second embodiment includes an imaging unit 2 as shown in FIG. 6, and the PC 3 as the robot control device also functions as an image acquisition unit 31 and a target value deriving unit 32 by executing a tool set program. To do.

  The robot vision of this embodiment is a two-dimensional robot vision for a predetermined reference plane. The imaging unit 2 is a camera used for recognizing the size, shape, and position of a workpiece in a reference plane perpendicular to the z-axis of the robot coordinate system, and includes a lens 201, an area image sensor 202, and not shown. An AD converter is provided. As illustrated in FIG. 6A, the imaging unit 2 is provided at a predetermined position on the work table 9 so that it can capture an image vertically upward. That is, the imaging unit 2 is installed so that the optical axis of the lens 201 is parallel to the z-axis of the robot coordinate system.

  The coordinate system of the imaging unit 2 is a coordinate system of an image output from the imaging unit 2, and is determined by a B-axis having a horizontal right direction of the image as a positive direction and a C-axis having a vertical downward direction of the image as a positive direction. . Hereinafter, the coordinate system of the image output from the imaging unit 2 is also referred to as an image coordinate system. The unit of length of the image coordinate system is pixel, and the unit of angle is degree. The positional relationship between the area image sensor 202 and the lens 201 is determined so that the center of gravity of the image captured by the imaging unit 2 corresponds to the center of the optical system. That is, the point on the optical axis of the lens 201 is imaged at the center of gravity of the image. In this embodiment, the imaging unit 2 is installed so that the optical axis of the lens 201 is parallel to the z-axis in order to define the reference plane perpendicular to the z-axis, but the method of determining the reference plane is arbitrary, The imaging unit 2 may be installed so that the optical axis of the lens 201 that defines the imaging direction is perpendicular to the reference plane.

  In order to recognize an image of the posture of the tool, in this embodiment, a seal 4 on which five markers M1 to M5 are formed is attached to a reference surface TR of the tool T as shown in FIG. The seal 4 is affixed to the reference surface TR so that the center of the center marker M3 coincides with the reference point TC of the tool T. The number of markers may be three or more, and the form of the marker is not limited as long as its position can be specified by image recognition, and the reference surface TR itself of the tool T can be detected by image recognition. When there are three or more points, the feature points themselves may be used as markers.

  The image acquisition unit 31 instructs the imaging unit 2 to perform imaging, and acquires an image captured according to the instruction from the imaging unit 2. The target value deriving unit 32 holds a template for image recognition of the markers M1 to M5. This template is used for analyzing the image acquired from the imaging unit 2 and detecting the coordinates of the markers M1 to M5 in the image coordinate system. The target value deriving unit 32 derives a target value for changing the arm 11 to a predetermined state based on the image captured by the imaging unit 2.

  Hereinafter, tilt correction using the robot vision to make the tool a reference posture will be described with reference to FIG. In this embodiment, the tool T is correctly mounted on the tool chuck 1261, and the sticker 4 affixed to the reference surface TR of the tool T is moved to a position and posture that can be imaged by the imaging unit 2 by a JOG feed instruction. If any reference plane is set as in (Step S10), the tool posture offset can be automatically set. When the tool T is moved by the JOG feed instruction, the position and orientation do not need to be accurate, and the sticker 4 attached to the tool T may be in a position and orientation that can be imaged by the imaging unit 2.

  When the reference plane is set and the seal 4 can be imaged by the imaging unit 2, the PC 3 moves the arm 11 based on the image captured by the imaging unit 2 to align the center marker M3 with the optical axis of the imaging unit 2 ( Step S201). Specifically, the image acquisition unit 31 instructs the imaging unit 2 to perform imaging and acquires an image from the imaging unit 2, and the target value deriving unit 32 sets the center marker M3 of the imaging unit 2 based on the acquired image. A target value for alignment with the optical axis is derived. That is, the target value deriving unit 32 detects the position of the marker M3 using the template, derives the displacement from the marker M to the center of gravity of the image corresponding to the optical axis of the lens 202, and derives it using the image coordinate system. The obtained displacement is converted into a robot coordinate system using a coordinate conversion matrix. The output unit 33 moves the arm 11 by outputting the displacement converted into the robot coordinate system as a target value to the control unit 14.

When the center marker M3 is aligned with the optical axis of the imaging unit 2, PC3 derives the current gradient index ^{H 1} reference surface TR tool T (step S202). In an image captured by the imaging unit 2 in a state where the reference plane TR is perpendicular to the optical axis of the imaging unit 2 and the optical axis of the imaging unit 2 passes through the central marker M3, the central marker M3 and the peripheral marker M1 , M2, M4, M5 distances _{d 13, d 23, d 34} , d 35 is equal. At this time, if the coordinates of the marker Mn detected from the image are represented by p (n), the following equation is established.

| U ₁ | = | u ₂ |
| V ₁ | = | v ₂ |
However,
u ₁ = p (3) −p (2)
u ₂ = p (4) −p (3)
v ₁ = p (3) −p (1)
_{v 2 = p (5) -p} (3)

Then, when the reference plane TR rotates around a straight line connecting the marker M1 and the reference point M5 from a state where the optical axis of the reference plane TR and the imaging unit 2 is vertical, | v ₁ | and | v ₂ | The difference becomes larger. Further, when the reference plane TR rotates around the straight line connecting the markers M2 and M4 from the vertical state, the difference between | u ₁ | and | u ₂ | increases according to the rotation angle. Therefore, the following formulas H _x and H _y can be used as the inclination index.

H _x = | u ₁ | − | u ₂ |
H _y = | v ₁ | − | v ₂ |

Next, the target value deriving unit 32 compares the derived inclination indexes H _x and H _y with a predetermined threshold value, and determines whether or not the inclination indexes H _x and H _y are equal to or less than the predetermined threshold value ( Step S203). When the tilt indices H _x and H _y are equal to or smaller than a predetermined threshold, the tilt correction is successful, the reference plane TR is parallel to the reference plane, and the tool is in the reference posture.

If the slope indices H _x and H _y are not less than or equal to a predetermined threshold value, the target value deriving unit 32 determines whether or not the number of times of slope correction performed in step S212, which will be described later, is less than a predetermined threshold value ( Step S204). If the number of executions of the inclination correction is not less than a predetermined threshold, the inclination correction fails and ends.

  When the number of executions of the tilt correction in step S212 is less than a predetermined threshold, the target value deriving unit 32 stores the current TCP posture as the posture (1) (step S205).

  Subsequently, the target value deriving unit 32 derives a target value for rotating the reference plane TR around the y axis by δ degrees, and the output unit 33 outputs the derived target value to the robot (step S206). δ is a minute angle determined in advance according to an error allowed in the posture of the tool.

Next PC3 derives the reference plane TR after the reference surface TR is rotated δ degrees inclination indicator ^{H 2} (step S207). Specifically, the image acquisition unit 31 instructs the imaging unit 2 to perform imaging and acquires an image from the imaging unit 2. Target value deriving unit 32 by analyzing an image obtained as in step S202, to derive the gradient index H ^2. As a result, the index H ² slope for the reference surface TR rotated δ degrees about the y-axis from the position (1) is derived.

  Subsequently, the PC 3 returns the arm 11 to the posture (1) (step S208). That is, the output unit 33 outputs a target value for returning to the posture (1) to the control unit 15.

  Next, the PC 3 moves the arm 11 to rotate the reference plane TR around the x axis by δ degrees (step S209). In this embodiment, the tilt of the reference plane TR is corrected by rotating around the y axis and the x axis. However, the tilt of the reference plane TR is corrected by rotating around the B axis and the C axis of the image coordinate system. May be.

Next, the PC ³ derives an inclination index H3 for the reference surface rotated by δ degrees around the x axis from the posture (1), similarly to step S202 (step S211).

Next, the PC 3 makes the reference plane TR parallel to the reference plane in order to set the tool T to the standard posture based on the tilt indices H ¹ , H ² , and H ³ , that is, the reference plane TR is light of the imaging unit 2. Tilt correction amounts ΔV and ΔW for deriving perpendicular to the axis are derived (step S211). The target derivation unit 33 derives the inclination correction amounts ΔV and ΔW according to the following formula.

  Next, the target value deriving unit 32 derives a target value based on the derived inclination correction amounts ΔV and ΔW, and the output unit 33 outputs the derived target value to the robot (step S212). As a result, the arm 11 moves, and the reference plane TR rotates by ΔV around the X axis and ΔW around the Y axis.

  In the inclination correction, the processes from step S202 to S212 described above are repeated until an affirmative determination is made in step S203 or a negative determination is made in step S204.

If it falls below gradient index H ¹ threshold affirmative determination is made in step S203 to the reference plane of the reference surfaces TR is made, PC3, like the first embodiment, the normal direction and TCP current reference plane TR A posture offset of the tool T is derived and set based on the posture (step S14). That is, the PC 3 automatically derives and sets the posture offset of the tool T based on the posture of the TCP and the posture of the reference plane in a state where the tool T is set to the reference posture using the robot vision.

  According to the second embodiment described above, it is not necessary for the operator to bring the tool reference surface into surface contact with the reference surface by a JOG feed instruction so that the tool posture offset can be easily set. Become.

3. Other Embodiments The technical scope of the present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the scope of the present invention. For example, in the first embodiment, the operator sets the reference surface of the tool in contact with the reference surface while visually observing the operator and inputs an offset setting instruction to the PC 3, but the contact state between the reference surface of the tool and the reference surface is detected using a sensor. May be. Specifically, it is possible to detect that the reference surface of the tool and the reference surface are in surface contact by providing optical or contact sensors for detecting the contact state at three or more locations on the reference surface. In this case, the derivation of the offset can be automatically started in response to the detection of the surface contact between the reference surface and the reference surface of the tool.
The present invention can also be applied to vertical articulated robots other than six axes.

131-136 ... motor, 111-115 ... arm, 1 ... robot, 2 ... imaging unit, 3 ... PC, 9 ... work table, 14 ... control unit, 31 ... image acquisition unit, 32 ... target value deriving unit, 33 ... Output unit, 35 ... tool setting unit, 110 ... base, 111 ... first arm, 112 ... second arm, 113 ... third arm, 114 ... fourth arm, 115 ... fifth arm, 121-126 ... rotating shaft Member, 131-136 ... Motor, 201 ... Lens, 202 ... Area image sensor, 1261 ... Tool chuck, M ... Marker, T ... Tool, TR ... Reference plane

Claims (6)

An arm having a mounting portion on which a tool can be mounted;
When the tool mounted on the mounting portion becomes a reference posture in the work space, the posture of the mounting portion is acquired, and the tool is mounted on the mounting portion based on the acquired posture of the mounting portion and the reference posture. A tool setting unit for setting a posture offset with respect to the mounting unit of the tool;
Robot equipped with. The reference posture is a posture in which a flat reference surface of a reference object installed in the work space is parallel to a flat reference surface of the tool,
The tool setting unit obtains the posture of the mounting unit when the reference surface comes into surface contact with the reference surface.
The robot according to claim 1. An image acquisition unit for acquiring an image from an imaging unit installed in the work space;
An arm control unit that sets the tool mounted on the mounting unit to the reference posture based on an image captured by the imaging unit of the tool mounted on the mounting unit;
The robot according to claim 1, comprising: The arm control unit detects a plurality of reference points of the tool from an image captured by the imaging unit by a tool mounted on the mounting unit, and based on the detected positions of the plurality of reference points, the mounting unit The tool attached to the reference posture,
The robot according to claim 3. A robot control apparatus for controlling a robot including an arm having a mounting portion on which a tool can be mounted,
When the tool mounted on the mounting portion becomes a reference posture in the work space, the posture of the mounting portion is acquired, and the tool is mounted on the mounting portion based on the acquired posture of the mounting portion and the reference posture. A tool setting unit for setting a posture offset with respect to the mounting unit of the tool;
A robot control device comprising: An arm having a mounting portion on which a tool can be mounted;
An imaging unit installed in the work space;
An image acquisition unit for acquiring an image from the imaging unit;
When the tool mounted on the mounting portion becomes a reference posture in the work space, the posture of the mounting portion is acquired, and the tool is mounted on the mounting portion based on the acquired posture of the mounting portion and the reference posture. A tool setting unit for setting a posture of the attached tool with respect to the mounting unit;
An arm control unit that sets the tool mounted on the mounting unit to the reference posture based on an image captured by the imaging unit of the tool mounted on the mounting unit;
A robot system comprising:

Images