Robot control device and robot system

Abstract

This invention provides a robot control device that controls a robot to retrieve a workpiece based on 3D point group data generated by a 3D vision sensor, which represents the surface shape of a subject area where a workpiece may be located by a plurality of 3D points. The device includes: a grouping unit that classifies the plurality of 3D points into a plurality of groups that are close to each other and exist on the same virtual plane; an obstacle model generation unit that generates an obstacle model composed of a hexahedron, wherein the hexahedron has a square on the virtual plane that encloses the 3D points belonging to the same group as its upper surface, and a square formed by projecting the upper surface perpendicularly onto the surface on which the workpiece is placed as its bottom surface; and an action setting unit that sets the actions of the robot to retrieve the workpiece in a manner that does not interfere with the obstacle model. none

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