Holding position and orientation teaching device, holding position and orientation teaching method and robot system

摘要

A holding position and orientation teaching device, comprising: - a workpiece input orientation calculation unit (310) configured to categorize an orientation of a workpiece (10) based on workpiece shape data indicative of a shape of the workpiece (10) and as calculate a plurality of input orientations;- a holding orientation selection unit (320) configured to select a holding orientation of a hand (20) with respect to each of the plurality of input orientations based on hand data indicative of the shape of the hand (20); - a holding position area extracting unit (330) configured to extract an area collecting positions where a holding surface of the hand holding the workpiece (10) in the holding orientation and a holding surface of the workpiece (10) held by of the hand (20) being held agree with each other to extract a holding position range; and a holding position and orientation output unit (340) configured to select a holding position in which the hand (20) holds the workpiece (10) within the holding position range and at least one holding position in the holding orientation for each of the plurality of outputs input orientations as a holding position and holding orientation of the hand (20), wherein the holding orientation selection unit (320) extracts a surface of the workpiece (10) as a holding surface at which an angle defined between a normal of the holding surface of the hand (20) and a normal of each surface of the workpiece (10) is a predetermined allowable angle or smaller when the approaching direction of the hand (20) and a direction extending from an attachment portion of the hand (20) to a tip end of the hand (20) for each of the plurality of Input orientations of the workpiece (10) are matched, and for each of the plurality of input orientations Orientation of the hand (20) selects as a holding orientation when the normal of the holding surface of the hand (20) and the normal of the holding surface of the workpiece (10) are coordinated.