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ROBOT SETTING DEVICE, ROBOT SYSTEM, ROBOT SETTING METHOD, ROBOT SETTING PROGRAM AND RECORDING MEDIUM READABLE BY COMPUTER AS WELL AS EQUIPMENT WITH THE SAME RECORDED
ROBOT SETTING DEVICE, ROBOT SYSTEM, ROBOT SETTING METHOD, ROBOT SETTING PROGRAM AND RECORDING MEDIUM READABLE BY COMPUTER AS WELL AS EQUIPMENT WITH THE SAME RECORDED
PROBLEM TO BE SOLVED: To enable teaching considering a restriction at the time when a work-piece is placed.;SOLUTION: The robot setting device comprises: a reference placement posture setting part 8a that grips a work-piece in a first gripping posture made to correspond to a first gripping candidate position and sets, as a reference placement posture, first placement postures of an end effector which are necessary to place the work-piece in a placement position in a desirable state; and a placement posture calculating part 10e that makes the end effector to grip the work-piece in a second gripping posture made to correspond to a second gripping candidate position, and calculates second placement postures of the end effector which are necessary to place the work-piece in the placement position in the desirable state, by calculation processing using a difference between the first gripping candidate position and the second gripping candidate position, a difference between the first gripping posture and the second gripping posture and the reference placement posture. A gripping setting part 8c sets the gripping candidate positions excluding the first gripping candidate position respectively of a plurality of gripping candidate positions, corresponding the placement posture calculated by the placement posture calculating part 10e to the gripping candidate positions respectively.;SELECTED DRAWING: Figure 6;COPYRIGHT: (C)2018,JPO&INPIT
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