Robot setting device, robot system, robot setting method, robot setting program, computer-readable recording medium, and recording equipment

摘要

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