WO2023248439A1

WO2023248439A1 - Robot system, robot control device, and robot control program

Info

Publication number: WO2023248439A1
Application number: PCT/JP2022/025181
Authority: WO
Inventors: 智青木
Original assignee: ファナック株式会社
Priority date: 2022-06-23
Filing date: 2022-06-23
Publication date: 2023-12-28
Also published as: TW202400375A

Abstract

A robot system 100 comprises: an image capturing device 12; a terminal device 3 provided with a display screen 31 that displays an image captured by the image capturing device 12; and a robot 1 operated on the basis of the image displayed on the display screen. When a prescribed location 11A of the robot 1 is operated so as to move in a first direction, a second direction in which a subject in the image displayed moves is adjusted on the basis of the first direction.

Description

Robot system, robot control device and robot control program

The embodiments mentioned in this application relate to a robot system, a robot control device, and a robot control program.

In recent years, vision systems (robot vision) have been applied to industrial robots and collaborative robots, and there are systems that allow industrial robots to perform predetermined actions based on images (videos) acquired by the vision system. provided.

In other words, by combining a robot and a vision sensor, it has been put into practical use that the robot can be operated while displaying images taken with a "fixed camera" or "a camera attached to the robot" on a display screen in real time. Furthermore, for example, industrial robots that teach predetermined operations to a worker (teacher) while checking an image on a display screen of a teaching operation panel have also been put into practical use.

Note that in this specification, in order to simplify the explanation, an industrial robot will be explained as an example, but the present embodiment is not limited to application to industrial robots, and can be applied to collaborative robots and other applications. It can be widely applied to a variety of robots.

In the past, various proposals have been made as techniques for teaching or remotely controlling a robot while checking a displayed image.

JP2006-289531A Japanese Patent Application Publication No. 2000-079587 JP2020-093385A

As mentioned above, for example, industrial robots that teach predetermined actions to a worker while checking an image on a display screen of a teaching operation panel have been put into practical use. However, depending on the relative orientation of the industrial robot and the worker, the image on the display screen may give the worker a sense of discomfort, which may impede operation.

Specifically, for example, the image displayed on the display screen of the teaching operation panel is determined by the orientation of the camera attached to the industrial robot. Therefore, depending on the orientation of the camera, the direction in which the industrial robot moves as seen by the worker operating the teaching pendant and the direction in which it moves in the image on the display screen may not be intuitively acceptable.

In other words, there is a sense of incongruity between the direction of movement of the industrial robot actually operated by the worker and the direction of movement in the image projected on the display screen of the teaching operation panel, and due to this sense of incongruity, it is difficult for the worker to perform the teaching operation smoothly. There were things I couldn't do.

The problem to be solved by the present invention is a robot system, a robot control device, and a robot control program that can smoothly perform operations by eliminating the sense of discomfort between the direction of movement of the robot actually operated and the direction of movement in the image on the display screen. The goal is to provide the following.

According to one embodiment of the present invention, there is provided an image capturing device, a terminal device having a display screen that displays images captured by the image capturing device, and a terminal device that is operated based on the image displayed on the display screen. A robot system comprising: a robot that moves a second direction in which a subject in the image displayed on the display screen moves when a predetermined part of the robot is operated to move in a first direction; A robotic system is provided that adjusts based on a first orientation.

The objects and advantages of the invention will be realized and obtained by means of the elements and combinations particularly pointed out in the claims. Both the foregoing general description and the following detailed description are intended to be exemplary and explanatory and are not intended to limit the invention as claimed.

FIG. 1 is a diagram schematically showing an industrial robot system as an example of the robot system according to the present embodiment. FIG. 2 is a diagram (part 1) for explaining the first example of the robot system according to the present embodiment. FIG. 3 is a diagram (part 2) for explaining the first example of the robot system according to the present embodiment. FIG. 4 is a diagram (part 3) for explaining the first example of the robot system according to the present embodiment. FIG. 5 is a diagram (part 1) for explaining the second example of the robot system according to the present embodiment. FIG. 6 is a diagram (part 2) for explaining the second example of the robot system according to the present embodiment. FIG. 7 is a diagram for explaining a first application example of the robot system according to this embodiment. FIG. 8 is a diagram for explaining a second application example of the robot system according to this embodiment. FIG. 9 is a diagram for explaining a third application example of the robot system according to this embodiment. FIG. 10 is a flowchart for explaining an example of processing of the robot control program according to this embodiment. FIG. 11 is a flowchart for explaining another example of the processing of the robot control program according to this embodiment.

Hereinafter, examples of the robot system, robot control device, and robot control program according to the present embodiment will be described in detail with reference to the accompanying drawings. FIG. 1 is a diagram schematically showing an industrial robot system as an example of the robot system according to the present embodiment.

As shown in FIG. 1, an industrial robot system 100 as an example of a robot system according to the present embodiment includes an industrial robot 1, a robot control device 2, and a teaching pendant (terminal device) 3. A gripping portion (hand portion) 11A is provided at the tip of the arm 11 of the industrial robot 1, and the gripping portion 11A grips, for example, a workpiece (object) 5 placed on a workbench 4 and holds it in a predetermined position. It is designed to perform the following processing.

A camera (image photographing device) 12 for photographing the workpiece 5 and the like is attached near the gripping portion 11A of the arm 11, and an image (video) including the workpiece 5 photographed by this camera 12 is sent to the robot control device 2. is output to. Here, reference numeral 13 is a ring illumination (illumination device) provided on the outer periphery of the camera 12 and for irradiating the workpiece 5 with light L to obtain a clear image. The robot control device 2 refers to images from the camera 12 and controls the industrial robot 1 based on, for example, a pre-installed program (software program).

The teaching pendant 3 includes a display screen 31 and an operation section 32, and is connected to the robot control device 2 by wired or wireless communication. Here, the teaching pendant 3 allows a predetermined position of the industrial robot 1 using the gripping part 11A by, for example, an operator (teaching person) operating the operating part 32 while checking the image on the display screen 31. The robot controller 2 is used to teach the operation of the robot via the robot controller 2.

The robot control device 2 not only controls the industrial robot 1 based on commands from the teaching pendant 3, but also processes images displayed on the display screen 31 of the teaching pendant 3, etc., as will be described in detail later. We also do That is, the example of the robot system according to the present embodiment described in detail below is realized by the processing of the robot control device 2, or by the robot control program executed by the arithmetic processing unit (CPU) of the robot control device 2. be done.

Note that the robot system according to the present embodiment is not limited to an industrial robot system that grips a workpiece 5 with a gripper 11A as shown in FIG. It may be a system. Furthermore, as described above, the robot system according to this embodiment is not limited to industrial robot systems, and can be widely applied to various robot systems including collaborative robots. be.

[First example]
2 to 4 are diagrams for explaining a first example of the robot system according to this embodiment. Here, FIGS. 2(a) and 2(b) are for explaining an example of teaching processing in a robot system to which this embodiment is not applied, and FIGS. 4(a) and 4(b) are for explaining an example of teaching processing in a robot system to which this embodiment is not applied. , is for explaining an example of the teaching process in the robot system of the first embodiment. Note that FIG. 3 is for explaining the processing by the robot control device in the robot system of the first embodiment.

As shown in FIG. 2(a), for example, a worker (teacher) P operates the operation unit 32 while checking the image on the display screen 31 of the teaching pendant 3, and the robot (industrial robot) 1 The hand portion 11A is moved in the leftward direction DA (from right to left in FIG. 2(a)). At this time, as shown in FIG. 2(b), an image (video) captured by the camera 12 and input via the robot control device 2 is displayed on the display screen 31 of the teaching pendant 3.

Here, the image displayed on the display screen 31 of the teaching pendant 3 changes depending on, for example, the orientation of the camera 12. Specifically, for example, as shown in FIG. 2(b), even if the worker P actually moves the hand portion 11A of the robot 1 to the left (in real space) DA, the teaching operation panel In the image on the display screen 31 of No. 3, the subject (for example, the workpiece W(5)) moves upward Db (from the bottom to the top in FIG. 2(b)).

Therefore, the worker P may feel uncomfortable because the direction DA in which the hand portion 11A of the robot 1 is actually moved and the direction Db in which the subject moves in the image on the display screen 31 are different. That is, the worker P feels uncomfortable in the movement operation of the hand section 11A, and as a result, the teaching operation cannot be performed smoothly, which may lead to a decrease in work efficiency.

In such a case, according to the first example of the robot system according to the present embodiment, for example, as shown in FIG. and display it. That is, the robot control device 2 receives an image taken by the camera 12, rotates the image 90 degrees counterclockwise (Ra), and outputs the image to the teaching pendant 3.

As a result, as shown in FIGS. 4(a) and 4(b), for example, the operator P operates the operating unit 32 while checking the image on the display screen 31 of the teaching pendant 3, and the robot 1 When the hand portion 11A is moved to the leftward direction DA, the subject (workpiece W) also moves to the leftward direction Da in the image on the display screen 31.

Then, the worker P operates the operating section 32 of the teaching pendant 3 to make the robot move while checking the image after the counterclockwise rotation Ra of 90 degrees displayed on the display screen 31 of the teaching pendant 3, for example. The hand portion 11A of No. 1 is actually moved in the direction of DA. As a result, the worker P can perform the teaching work smoothly without feeling any discomfort, that is, without causing a decrease in work efficiency.

In the above description, the camera 12 is attached near the moving hand portion 11A of the robot 1, but for example, it may be fixed above the robot 1 (for example, fixed to the ceiling 6 above the robot 1). The same applies in any case. As will be described in detail later with reference to FIG. 9, for example, an image taken by a fixed camera 12' is displayed on the display screen 31 of the teaching pendant 3 via the robot control device 2. For example, if the direction in which the hand section 11A of the robot 1 moves in the image on the display screen 31 does not match the direction in which the hand section 11A of the robot 1 actually operated by the worker P is moved, the worker P It will give you a sense of discomfort.

This discomfort may occur, for example, when the worker P presses and operates a predetermined part of the robot 1 (for example, the hand section 11A), or when the worker P actually operates the hand guide (guide section) 14 provided on the hand section 11A. It becomes even larger when moving by applying force. That is, when the worker P actually applies force to a part of the robot 1 as will be described in detail later with reference to FIGS. This may lead to an even greater reduction in work efficiency.

[Second example]
5 and 6 are diagrams for explaining a second example of the robot system according to this embodiment. As is clear from the comparison between FIG. 5 and FIG. 4(a), FIG. 6(a) and FIG. 3, and FIG. 6(b) and FIG. 4(b), the robot system of the second embodiment has the above-mentioned In contrast to the robot system of the first embodiment, a coordinate system is added to the image displayed on the display screen 31 and displayed.

First, as shown in FIG. 5, a world coordinate system CA is set for the robot 1 in real space (actual). As shown in FIG. 6(a), this world coordinate system CA is displayed as the coordinate system Cb in the image displayed on the display screen 31 of the teaching pendant 3, and furthermore, the world coordinate system CA is displayed as the coordinate system Cb in the image displayed on the display screen 31 of the teaching pendant 3. Similarly, the image on the display screen 31 is rotated 90 degrees counterclockwise to eliminate the operator's discomfort.

That is, as shown in FIG. 6(b), the world coordinate system CA in real space is added and displayed as the coordinate system Ca to the image in which the moving direction of the subject has been corrected. Thereby, the worker P can easily check the correspondence between the coordinate system CA in the real space photographed by the camera 12 and the coordinate system Ca in the image displayed on the display screen 31 of the teaching pendant 3. Become.

Note that, as shown in FIG. 6(a), for example, only the image before being rotated 90 degrees counterclockwise and the coordinate system Cb of that image may be displayed as the image displayed on the display screen 31. can. Furthermore, the rotation direction of the image (90 degrees counterclockwise rotation Ra) may be displayed to match the moving direction with respect to the image on the display screen 31. That is, before directly displaying the image shown in FIG. 6(b), for example, the image shown in FIG. 6(a) is displayed, and the image shown in FIG. 6(a) or FIG. ) can also be selected.

FIG. 7 is a diagram for explaining a first application example of the robot system according to the present embodiment. In FIG. 7, reference numeral 3' indicates a tablet (terminal device), and 31' indicates a display screen (display area) of a touch panel on the tablet 3'. Note that the operation section 32 of the teaching pendant 3 in FIG. 1 described above can also be provided as a touch operation area on the display screen 31' of the tablet 3', for example.

The tablet 3' is equipped with a GPS (Global Positioning System) function, a geomagnetic sensor (azimuth sensor), etc. Note that the tablet 3' may be a dedicated device provided by the provider that provides the robot system 100, but a general-purpose tablet owned by the user may also be used. Further, as the tablet 3', it is also possible to use, for example, a communication terminal such as a general-purpose smartphone owned by the user. Here, when the user uses a tablet or smartphone owned by the user as the tablet 3', the robot control program according to the present embodiment is installed and used on the tablet or smartphone.

As shown in FIG. 7, in the first application example of the robot system according to the present embodiment, the worker P, while checking the image displayed on the display screen 31' of the tablet 3', Apply force to 11A and move it. At this time, the worker P may operate the touch operation area on the display screen 31' of the tablet 3'.

In this way, for example, when the worker P actually applies force to the hand portion 11A of the robot 1 to move it, by applying this embodiment, the worker P can perform the operation without feeling any discomfort, and the work efficiency can be improved. becomes possible to rise. As in this application example, when the worker P pushes and moves the hand part 11A with his or her own hand, the effect of improving work efficiency due to the absence of discomfort in the direction in which the subject moves in the image on the display screen 31' is particularly It becomes something big.

In addition, since the tablet 3' is equipped with a GPS function, a geomagnetic sensor, etc., the moving direction of the hand section 11A that is actually moved by the worker P is always shown in the image displayed on the display screen 31' of the tablet 3'. This can be made to match the moving direction of the hand portion 11A. That is, the image displayed on the display screen of the tablet 3' changes in real time according to the orientation of the display screen 31' of the tablet 3' held in the hand of the worker P, so that the image does not make the worker P feel uncomfortable. It looks like this.

FIG. 8 is a diagram for explaining a second application example of the robot system according to the present embodiment. In FIG. 8, reference numeral 16 is a holding point for charging the battery of the tablet 3' and calibrating the position and orientation of the tablet 3' using a GPS function, a geomagnetic sensor, etc. mounted on the tablet 3', for example. shows. Note that the worker P takes out and uses the tablet 3', which has been placed in the holding location 16 and whose battery has been charged and whose position and orientation have been calibrated, for example. Thereby, the robot control device 2 can recognize the position and orientation of the tablet 3'.

Furthermore, the robot control device 2 can receive, for example, output signals from encoders provided in the motors of each movable part of the robot 1, and can recognize the positions and moving directions of the camera 12 and the hand part 11A. In this way, the robot control device 2 can recognize the orientation (position and orientation) of the display screen 31' of the tablet 3', the orientation (distance and direction) in which the hand section 11A is positioned, and so on. The robot system according to the present embodiment described with reference to FIGS. 2 to 6 recognizes the relative relationship between the objects (the workpiece W and a predetermined location where the robot 1 moves) in the image displayed on the display screen 31'. It becomes possible to realize the first and second embodiments.

In addition, in the explanation of FIG. 8, an example was explained in which the tablet 3' is placed on the holding location 16 and the tablet 3' is charged and the position and orientation are calibrated. You can also do this. That is, for example, it is also possible to provide a display light at a specific location on the robot 1 to be calibrated, and to perform calibration by arranging the tablet 3' in a predetermined direction with respect to the position of the display light. .

FIG. 9 is a diagram for explaining a third application example of the robot system according to the present embodiment. In FIG. 9, reference numeral 14 indicates a hand guide (guide portion), and 12' indicates a camera fixed above the robot 1 (for example, on the ceiling 6). Here, the hand guide 14 is provided near the hand section 11A of the robot 1, and is used by the worker P to actually apply force to the hand guide 14 to move the hand section 11A and teach a predetermined operation. be. The robot system shown in FIG. 9 includes both a camera 12 attached near the hand portion 11A of the robot 1 and a camera 12' fixed to the ceiling 6 above the robot 1. ' may also be the case.

For example, the worker P operates the operating section 32 while checking the image displayed on the display screen 31 of the teaching pendant 3 connected to the robot control device 2, and further operates the hand guide 14 with his or her own hands. The hand portion 11A of the robot 1 is moved (operated) by applying force. Here, the processing of the image taken by the camera 12 attached near the hand part 11A of the robot 1 is as explained with reference to FIGS. The same applies to processing of captured images.

That is, regarding the subject photographed by the fixed camera 12' (for example, the hand section 11A of the robot 1), the direction in which the worker P moved the hand section 11A via the hand guide 14 and the direction in which the object was photographed by the fixed camera 12' are determined. The processing in the robot systems of the first and second embodiments described above can also be applied to the direction of movement of the hand section 11A in the image displayed on the display screen 31 of the teaching pendant 3.

FIG. 10 is a flowchart for explaining an example of the processing of the robot control program according to the present embodiment. It is something.

As shown in FIG. 10, when an example of the processing of the robot control program starts, in step ST11, the hand guide is used to move the hand part A of the robot in the front direction (back-and-forth direction) and in the left-right direction when viewed from the worker P. Then, the process proceeds to step ST12. That is, in step ST11, the hand portion (grip portion) 11A of the robot 1 is moved in the front direction and left/right direction using the hand guide 14 described with reference to FIG.

Note that the position change of the hand part 11A caused by moving the hand guide 14 provided near the hand part 11A of the robot 1 in the front direction and the change in the position of the hand part 11A caused by moving the hand guide 14 in the left-right direction are as follows. For example, the robot control device 2 (arithmetic processing device) can accurately recognize the robot 1 based on the output signal of an encoder provided to the motor of each movable part of the robot 1 or the pulse signal controlling each motor.

In step ST12, the relative relationship between the world coordinate system of the camera 12 (for example, the world coordinate system CA in FIG. 5) and the direction of the worker P is calculated from the motion of the robot 1. That is, the robot control device 2 calculates the positional coordinates in the world coordinate system CA in which the hand portion 11A of the robot 1 moves, and the direction in which the worker P operates the hand portion 11A of the robot 1.

Next, the process proceeds to step ST13, where the position and orientation of the camera with respect to the world coordinate system is calculated, and the process proceeds to step ST14, where the relative relationship between the orientation of the camera 12 and the orientation of the worker P is obtained by coordinate transformation. That is, the robot control device 2 acquires the relationship between the coordinate system (world coordinate system) CA in real space and the coordinate system Cb in the image displayed on the display screen 31 of the teaching pendant 3.

Then, the process proceeds to step ST15, and based on the relative position and orientation, the image is displayed on the display screen 31 so that, for example, the front direction of the worker P and the upper direction of the display image (the image on the display screen 31) match. Rotate the image. That is, the robot control device 2 rotates the image on the display screen 31 so that the coordinate system Cb in the image displayed on the display screen 31 becomes the coordinate system Ca. As a result, the direction in which the worker P actually moves the hand portion 11A of the robot 1 matches the direction in which the subject moves in the image on the display screen 31, eliminating the discomfort of the worker P and allowing him to work. It becomes possible to do it smoothly.

FIG. 11 is a flowchart for explaining another example of the processing of the robot control program according to the present embodiment. This is for illustrative purposes only.

As shown in FIG. 11, when another example of the processing of the robot control program starts, in step ST21, the tablet 3' on which the GPS sensor, geomagnetic sensor, etc. are mounted is placed at a predetermined location on the robot in a predetermined direction. Deploy. That is, the position and orientation of the tablet 3' is calibrated as described with reference to FIG. 8. Thereby, the robot control device 2 can recognize the relative relationship between the hand portion 11A of the robot 1 and the image on the display screen 31' of the tablet 3'.

Further, the process proceeds to step ST22, and information on the position and orientation of the tablet 3' is acquired using a GPS sensor, a geomagnetic sensor, etc. while the tablet 3' is being held. That is, the robot control device 2 can acquire information about the tablet 3' from the tablet 3' connected via a wired or wireless line. Note that the processes in steps ST21 and ST22 include, for example, as described with reference to FIG. 8, the tablet 3' is placed on the holding location 16, the battery is charged, and the position and orientation of the tablet 3' are calibrated. Once done, you can make it unnecessary.

Next, the process proceeds to step ST23, and the relative coordinates of the camera 12 from the robot base 15 are acquired. Note that the robot control device 2 can obtain the relative coordinates of the camera 12 with respect to the robot base 15 using, for example, output signals and control signals of encoders provided to the motors of each movable part of the robot 1. Furthermore, the process proceeds to step ST24 to calculate the relative position and orientation from the camera 12 to the tablet 3'. That is, the robot control device 2 determines the relative position from the camera 12 to the tablet 3' based on the position and orientation of the tablet 3' obtained in step ST22 and the relative coordinates of the camera 12 with respect to the robot base 15 obtained in step ST23. Calculate the position and orientation of the object.

Then, proceeding to step ST25, the worker P is rotated based on the relative position and orientation so that the front direction of the worker P and the upper direction of the display image (the image displayed on the display screen 31' of the tablet 3') coincide. do. That is, the robot control device 2 performs, for example, the rotation processing of the displayed image as described with reference to FIGS. 2 to 4. Thereby, the direction in which the hand portion 11A of the robot 1 is actually moved matches the direction in which the subject moves in the image on the display screen 31, so that the worker P can work smoothly without feeling uncomfortable.

Further, the process proceeds to step ST26, and coordinates based on the relative position and orientation are displayed on the display screen of the tablet 3'. That is, as described with reference to FIGS. 5 and 6, the coordinate system is added to the display image and displayed. Thereby, the worker P can easily confirm the correspondence between the coordinate system CA in the real space photographed by the camera 12 and the coordinate system Ca (Cb) in the image displayed on the display screen 31' of the tablet 3'. becomes possible.

In the above, the robot control program according to the present embodiment described above may be provided by being recorded on a computer-readable non-temporary recording medium or a non-volatile semiconductor storage device, or may be provided via wired or wireless communication. You can. Here, the computer-readable non-temporary recording medium may be, for example, an optical disk such as a CD-ROM (Compact Disc Read Only Memory) or a DVD-ROM, or a hard disk device. Further, as a nonvolatile semiconductor memory device, PROM (Programmable Read Only Memory), flash memory, etc. can be considered. Further, distribution from the server device may be provided via a wired or wireless WAN (Wide Area Network), LAN (Local Area Network), the Internet, or the like.

As described above in detail, according to the robot system, robot control device, and robot control program according to the present embodiment, the robot can be operated without any discomfort between the direction of movement of the robot to be actually operated and the direction of movement in the image on the display screen. can be carried out smoothly.

Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. These embodiments may include various additions and substitutions without departing from the gist of the invention or the spirit and spirit of the present invention derived from the content described in the claims and equivalents thereof. , change, partial deletion, etc. are possible. For example, in the embodiments described above, the order of each operation and the order of each process are shown as examples, and are not limited to these. Further, the same applies when numerical values or formulas are used in the explanation of the embodiments described above.

1 Industrial robot (robot)
2 Robot control device 3 Teaching operation panel (terminal device)
3' Tablet (terminal device)
4 Workbench 5, W Work (object)
6 Ceiling (above the robot)
11 Arm 11A Gripping part (hand part)
12,12' camera (image capture device)
13 Ring lighting (lighting device)
14 Hand guide (guide part)
15 Robot base 16 Holding location 31, 31' Display screen 32 Operation unit 100 Industrial robot system (robot system)

Claims

an image capturing device;
a terminal device having a display screen that displays images captured by the image capturing device;
A robot system comprising: a robot operated based on the image displayed on the display screen,
When operating a predetermined part of the robot to move in a first direction, a robot system adjusts a second direction in which a subject moves in the image displayed on the display screen based on the first direction. .
When the operator operates the predetermined location to move in the first direction, the second direction in which the subject moves in the image displayed on the display screen is determined based on the first direction. The robot system according to claim 1, wherein the robot system is adjusted so as not to give a feeling of discomfort to a worker.
The robot includes a guide section provided near the predetermined location,
The robot system according to claim 2, wherein the worker moves the guide section to operate the robot and operates the terminal device while checking the image displayed on the display screen of the terminal device. .
When the predetermined location is operated to move in the first direction, the second direction in which the subject moves in the image displayed on the display screen matches the first direction. The robot system according to any one of claims 1 to 3, wherein the robot system rotates.
The robot system according to any one of claims 1 to 4, wherein a coordinate system of the subject is added to and displayed on the image displayed on the display screen.
The image capturing device is attached near the predetermined location of the robot,
The robot system according to any one of claims 1 to 5, wherein the subject includes a workpiece to be processed by the robot.
The image capturing device is fixedly attached above the robot,
The robot system according to any one of claims 1 to 5, wherein the subject includes the predetermined location of the robot.
The robot system according to any one of claims 1 to 7, wherein the terminal device is a teaching pendant, a tablet, or a smartphone for operating the robot.
The robot is an industrial robot or a collaborative robot,
The robot system according to any one of claims 1 to 7, wherein the predetermined location is a hand portion of the industrial robot or the collaborative robot.
A robot control device that controls a robot based on the operation of a terminal device having a display screen that displays images captured by an image capturing device,
Robot control, when operating a predetermined part of the robot to move in a first direction, a second direction in which a subject moves in the image displayed on the display screen is adjusted based on the first direction. Device.
A robot control program that controls a robot based on the operation of a terminal device having a display screen that displays images photographed by an image photographing device, the program comprising:
In the arithmetic processing unit,
When a predetermined part of the robot is operated to move in a first direction, a second direction in which the subject moves in the image displayed on the display screen is adjusted based on the first direction. Robot control program to be executed.