JP7510514B2 - Offset value setting method and robot control device - Google Patents

Description

This specification discloses a method for setting offset values and a robot control device.

Conventionally, in a multi-joint robot in which a tool is attached to the end of an arm, calibration of each mechanism of the robot is known in order to accurately position the end of the arm at a desired position. For example, Patent Document 1 describes a calibration method that uses a camera that captures an image of a mark on a target fixed in the space of a robot coordinate system, and stores multiple operating positions and robot postures in which the shape characteristics of the mark captured by the camera satisfy predetermined conditions when the robot is moved to multiple operating positions.

JP 2008-12604 A

The above-mentioned tool includes one that has a control point at a position offset from the origin at the tip of the arm. If such a tool has machining or installation errors, these errors will be combined with errors due to rotational deviation around the origin at the tip, making it difficult to correctly determine and set the offset value, which could reduce the operational accuracy of the robot.

The primary objective of this disclosure is to more accurately set the offset value of a tool whose control point is offset from the origin at the tip of the arm.

This disclosure takes the following measures to achieve the above-mentioned primary objective.

The offset value setting method of the present disclosure includes:
1. A method for setting offset values for a tool attached to a tip of an arm of an articulated robot, the control point of the tool being offset in X and Y directions from an origin of the tip, the method comprising the steps of:
a first acquisition step of acquiring first coordinates indicating the positions of the position marks in the XY directions by performing image recognition on a plate having position marks for aligning the tool in the XY directions and rotation orientation marks for aligning the tool around the Z axis;
an operating step of operating the arm by setting the first coordinates as a target position of a control point of the tool using an offset value in design of the tool, and then adjusting the position and rotation amount of the tip portion so that an actual position of the control point and a rotational orientation of the tool match the position mark and the rotational orientation mark;
a second acquisition step of acquiring second coordinates indicating the position of the control point in the XY direction after the adjustment and an amount of rotation adjustment of the tip portion due to the adjustment;
a third acquisition step of determining an origin position of the tip portion after the adjustment using the second coordinate, the rotation adjustment amount, and the design offset value, and acquiring a third coordinate indicating a position obtained by rotating the second coordinate in a direction returning the tip portion by the rotation adjustment amount around the origin position;
a setting step of calculating differences in an X direction and a Y direction between the first coordinate and the third coordinate, respectively, and adding the differences to the designed offset value to set an offset value of the tool;
The gist of the invention is that it includes the following:

In the offset value setting method disclosed herein, the arm is operated with the first coordinate of the position mark obtained by image recognition of the plate as the target position of the control point, and then the position and rotation amount of the tip are adjusted so that the actual position of the control point and the rotation direction of the tool match the position mark and the rotation direction mark. In addition, the second coordinate of the adjusted control point, the rotation adjustment amount of the tip, and the design offset value are used to determine the origin position of the adjusted tip, and the third coordinate is obtained by rotating the second coordinate in a direction returning the rotation adjustment amount around the origin position. Then, the difference between the first coordinate and the third coordinate in the X direction and the Y direction is calculated, and the difference is added to the design offset value to set the offset value of the tool. As a result, even if the control point of the tool is offset in the XY direction from the origin of the tip, the offset value can be set with high precision by eliminating the effects of machining error, installation error, and rotation deviation of the tool.

FIG. 2 is a diagram showing an outline of the configuration of a robot 20. FIG. 2 is an explanatory diagram showing an electrical connection relationship between the robot 20 and a robot control device 70. FIG. 11 is an explanatory diagram showing an example of a method for setting an offset value. FIG. 11 is an explanatory diagram showing an example of calculation of an offset value after removing a rotational deviation. FIG. 11 is an explanatory diagram showing an example of a state when an offset value is set. FIG. 4 is an explanatory diagram showing an example of the upper surface of the cross plate P. FIG. 11 is an image diagram showing an example of a method for setting an offset value. FIG. 11 is an image diagram showing an example of a method for setting an offset value. FIG. 11 is an image diagram showing an example of a method for setting an offset value. FIG. 11 is an image diagram showing an example of a method for setting an offset value. FIG. 11 is an image diagram showing an example of a method for setting an offset value.

Next, an embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a schematic diagram showing the configuration of the robot 20. Fig. 2 is an explanatory diagram showing the electrical connection between the robot 20 and the robot control device 70.

The robot 20 is controlled by the robot control device 70 and performs a predetermined operation on a workpiece (work object) transported by the work transport device 12 (see FIG. 2). Examples of the predetermined operation include a pick-up operation for picking up a workpiece, a placing operation for placing a workpiece in a predetermined position, and an assembly operation for assembling a workpiece in a predetermined position.

As shown in Figure 1, the robot 20 has, for example, a five-axis vertical multi-joint arm (hereinafter referred to as arm) 22. The arm 22 has six links (first to sixth links 31 to 36) and five joints (first to fifth joints 41 to 45) that connect the links so that they can rotate or swivel. Each joint (first to fifth joints 41 to 45) is provided with a motor (servo motor) 51 to 55 that drives the corresponding joint, and an encoder (rotary encoder) 61 to 65 that detects the rotational position of the corresponding motor. The sixth link 36 is referred to as the tip link (tip) 36.

A work tool (hereinafter, tool T) serving as an end effector can be attached and detached to the tip link 36 of the arm 22. Examples of tool T include an electromagnetic chuck, a mechanical chuck, and a suction nozzle, and are selected appropriately according to the shape and material of the workpiece to be worked on. In addition, a camera 24 is attached to the fifth link 35 of the arm 22. The camera 24 captures an image of the workpiece to recognize, for example, the position and orientation of the workpiece.

The arm 22 of this embodiment thus configured can move in a three-dimensional space with the front (near) and rear (far) directions when the robot 20 is viewed from the front as the X-axis, the vertical direction of the robot 20 (extension direction of the rotation axis of the first joint 41) as the Z-axis, and the direction perpendicular to the X-axis and Z-axis as the Y-axis. In the three-dimensional space, a world coordinate system is defined with an origin at a predetermined position of the worktable 11 (see FIG. 5) of the robot 20. In addition, a mechanical interface coordinate system is defined with an origin at the center position of the tool mounting surface of the tip link 36, i.e., the mounting reference position of the tool T. The origin of this mechanical interface coordinate system is defined as the origin Mo.

2, the robot control device 70 is configured as a microprocessor centered on the CPU 71, and in addition to the CPU 71, includes a ROM 72, a HDD 73, a RAM 74, an input/output interface (not shown), and a communication interface (not shown). The HDD 73 stores the operation program of the robot 20 and an offset value 73a (described later) of the tool T. The robot control device 70 receives detection signals from the encoders 61-65, image signals from the camera 24, and operation signals from the display operation panel 28. The robot control device 70 also outputs control signals to the motors 51-55 and the work transport device 12, drive signals to the camera 24, and display signals to the display operation panel 28. The display operation panel 28 is configured as a touch panel type liquid crystal display that can be operated by the operator. The display operation panel 28 displays various information such as the operating status of the robot 20, and accepts input operations such as various settings and various instructions, as well as manual operation (position adjustment) of the arm 22 by the operator. The display device and the input device may be provided separately.

The robot control device 70 drives and controls each of the motors 51 to 55 of the robot 20 to move the tool T attached to the arm 22 toward the workpiece, and uses the tool T to perform a predetermined task on the workpiece. For example, the robot control device 70 processes an image captured by the camera 24 to obtain the target position of the control point that is the work center (control center) of the tool T and the target angle (posture) of the tool T, and converts them into the target position and target angle of the mechanical interface coordinate system (origin Mo). In addition, if the control point of the tool T is attached offset from the origin Mo, the offset value 73a is reflected and converted into the target position and target angle. Next, the robot control device 70 sets the target position and target angle of each joint of the arm 22 using the converted target position and target angle using well-known parameters, etc. Then, the robot control device 70 drives and controls the corresponding motors 51 to 55 so that the position and angle of each joint coincide with the respective target position and target angle, and drives and controls the tool T so that the task is performed on the workpiece.

Next, an offset value setting method for setting the offset value of the tool T using a specified cross plate (jig plate) P in the robot 20 configured in this manner will be described. FIG. 3 is an explanatory diagram showing an example of an offset value setting method. FIG. 4 is an explanatory diagram showing an example of offset value calculation after removal of rotational deviation, and shows the contents of S60 in FIG. 3. FIG. 5 is an explanatory diagram showing an example of a state when setting an offset value, and FIG. 6 is an explanatory diagram showing an example of the top surface of the cross plate P. FIGS. 7 to 11 are conceptual diagrams on the XY plane showing an example of a method for setting an offset value, with offset deviation and rotational deviation shown enlarged for ease of explanation.

The offset value setting method of this embodiment is performed by an operator or the like by placing a cross plate P at a predetermined position on the work table 11 of the robot 20 as shown in FIG. 5. As shown in FIG. 6, the cross plate P has a cross-shaped pattern, a position mark Mp for aligning the tool T, and a rotation direction mark Mr for aligning the rotation direction formed on the upper surface. The position mark Mp is a circular mark formed at the center of the cross, i.e., the center of the plate. The rotation direction mark Mr is a mark that indicates the projected shape of the tool T, and for example, the projected shapes of a pair of mechanical chucks are formed in symmetrical positions with the position mark Mp as the center. With the cross plate P placed on the work table 11, the operator inputs necessary information on the display operation panel 28 and manually operates the arm 22 while causing the robot control device 70 to set the offset value.

In the offset value setting method of FIG. 3, the worker first registers the design offset value of the tool T (S10). The design offset value (hereinafter, the offset design value) is determined based on the design dimensions of the tool T as the distance in the X and Y directions from the mounting reference position of the tool T to the control point of the tool T. The offset design value is registered, for example, by the worker using the display operation panel 28. For example, FIG. 5 shows a state in which the position (control point) T0 of the work center where the mechanical chuck as the tool T chucks the workpiece is offset from the origin Mo by Xoff0 in the X direction. Note that not only the offset values in the X and Y directions but also the offset value in the rotation direction around the Z axis may be registered, but if there is no offset design value in the rotation direction, a value of 0 is registered.

Next, the CPU 71 moves the camera 24 so that the center of the cross plate P (position mark Mp) is aligned with the center of the camera 24, and acquires the first coordinates (X1, Y1) indicating the position (center position) of the position mark Mp at that time and the rotation amount R1 of the rotation direction mark Mr around the Z axis (S20, FIG. 7). In S20, the CPU 71 performs image processing on the image captured by the camera 24 to recognize the position mark Mp and the rotation direction mark Mr, and acquires their positions and rotation directions. The rotation amount R1 in S20 indicates the amount of rotational deviation of the cross plate P around the Z axis on the workbench 11, and if the cross plate P is correctly installed without any rotational deviation, the value is 0. In FIG. 7, the first coordinates (X1, Y1) acquired in S20 are "S20 (X1, Y1)", and the same applies to FIGS. 8 to 11. In addition, the origin Mo of the mechanical interface coordinate system when S20 is performed, that is, the origin Mo of the tip link 36, is set to the origin Mo0.

Next, the CPU 71 controls the operation of the arm 22 so that the tool T moves, with the target position and target rotation amount (target angle) of the control point of the tool T set as the first coordinates (X1, Y1) and the rotation amount R1 (S30, FIG. 7). Here, due to machining errors and installation errors of the tool T, the actual offset value may differ from the offset design value, and offset deviations in the X and Y directions and rotation deviations around the Z axis may occur. In that case, the position of the actual control point of the tool T moved in S30 does not match the first coordinates (X1, Y1) and the rotation amount R1, and position deviations and rotation deviations occur. In FIG. 7, the moving position due to the rotation deviation is shown by a dotted line, and the position with the offset deviation added thereto is shown by a solid line. However, since the CPU 71 operates the arm 22 with the first coordinates (X1, Y1) and the rotation amount R1 as the target position and target rotation amount of the control point, it recognizes that the control point of the tool T has moved to "S20 (X1, Y1)" in FIG. 7. That is, although the control point of tool T has actually moved to the solid line position of S30, the CPU 71 erroneously recognizes that the control point of tool T is at "S20 (X1, Y1)."

Following S30, the position and rotation amount (angle) of the tip link 36 are adjusted so that the position and rotation direction of the control point of the tool T coincide with the position mark Mp and rotation direction mark Mr of the cross plate P (S40, FIG. 8). In S40, for example, an operator uses the display operation panel 28 to perform visual adjustment operations to operate the robot 20 so that the position and rotation direction of the control point of the tool T coincide with the position mark Mp and rotation direction mark Mr. For example, in FIG. 8, the position where the rotational deviation is eliminated by the rotation adjustment is shown by a dotted line, and the position where the offset deviation is eliminated by the position adjustment is shown by a solid line. In addition, the position where the origin Mo of the mechanical interface coordinate system moves from the origin Mo0 due to the position adjustment in the XY direction is set to the origin Mo1.

Then, the CPU 71 acquires the second coordinates (X2, Y2) and the rotation amount (rotation adjustment amount) R2 indicating the position of the control point after adjustment (movement) (S50, Figs. 8 and 9). As described above, the CPU 71 erroneously recognizes in S30 that the control point is at "S20 (X1, Y1)," and therefore recognizes that adjustment has been made to "S20 (X1, Y1)." In Fig. 9, the position after rotation adjustment to "S20 (X1, Y1)" (the same position as S40) is shown by dotted lines, and the position after position adjustment in the XY directions is shown by solid lines. As shown in the figure, the position coordinates of "S50 (X2, Y2)" are acquired as the second coordinates (X2, Y2).

Here, as shown in FIG. 9 (FIG. 8), since the origin of the mechanical interface coordinate system, that is, the center of rotation of the tip link 36, has moved from the origin Mo0 to the origin Mo1, the solid line position in S50 has the offset deviation in the X and Y directions superimposed on the rotation deviation due to the different center of rotation. Therefore, even if the differences ΔX, ΔY, and ΔR are calculated based on the second coordinate (X2, Y2) and the rotation amount R2 and the first coordinate (X1, Y1) and the rotation amount R1 and reflected in the offset design value, the influence of the rotation deviation remains and the offset value is not correct. Also, as described above, since the cross plate P is arranged with a rotation deviation, the influence of the rotation deviation may be reflected. Therefore, in this embodiment, the process of calculating the offset value after removing the rotation deviation shown in FIG. 4 is performed (S60) so that the offset value is calculated after removing the rotation deviation.

In the process of FIG. 4, the CPU 71 first derives the origin Mo1 after movement based on the offset design value, the second coordinate (X2, Y2), and the rotation amount R2 (S61). Here, the CPU 71 first calculates the offset value in the XY direction in the state rotated by the rotation amount R2, that is, the offset value reflecting the rotational deviation of the rotation amount R2, from the rotation amount R2 and the offset design value. Next, the CPU 71 derives a position away from the second coordinate (X2, Y2) by the calculated offset value as the origin Mo1. Note that this derivation method is not limited to this, and any method may be used as long as the origin Mo1 after movement is derived using at least one of the designed offset value, the second coordinate (X2, Y2), and the rotation amount R2.

Next, the CPU 71 removes the rotational deviation of the tool T (S62). Here, the CPU 71 obtains the third coordinate (X3, Y3) by correcting the second coordinate (X2, Y2) by the amount of rotation R2, by rotating the second coordinate (X2, Y2) around the origin Mo1 calculated in S61 by the amount of rotation R2 (FIG. 10). This obtains the position of the control point with the rotational deviation of the tool T removed.

Next, the CPU 71 removes the rotational deviation of the cross plate P (S63). Here, the CPU 71 acquires the first coordinate (X1', Y1') and the third coordinate (X3', Y3') corrected by rotating the first coordinate (X1, Y1) and the third coordinate (X3, Y3) by the amount of rotation R1 in the direction opposite to the amount of rotation R1 acquired in S20 around the origin Mo1 (FIG. 11). This acquires the position of the cross plate P with the rotational deviation removed.

After removing the rotational deviation in this way, the CPU 71 calculates the offset deviations ΔX (=X1'-X3') and ΔY (=Y1'-Y3') in the X and Y directions based on the corrected first coordinate (X1', Y1') and third coordinate (X3', Y3') (S64). Next, the CPU 71 adds the calculated differences ΔX and ΔY to the offset design values, respectively, to calculate the offset values (Xoff, Yoff) in the X and Y directions (S65), and ends this process.

Then, the CPU 71 associates the X-direction and Y-direction offset values (Xoff, Yoff) calculated in S60 (S65) with identification information such as the type and model of the tool T, and stores them in the HDD 73 as offset values 73a (S70). This allows the robot control device 70 to cause the robot 20 to perform work using the tool T using the offset values 73a that have been correctly set by removing the rotational deviation, thereby improving work accuracy.

Here, the correspondence between the components of this embodiment and the components of this disclosure will be clarified. S20 of the offset value setting method of this embodiment corresponds to the first acquisition step, S30 and S40 correspond to the operation steps, S50 corresponds to the second acquisition step, S61 and S62 of the calculation of the offset value after removing the rotational deviation correspond to the third acquisition step, and S64 and S65 correspond to the setting step. S63 corresponds to the correction step. Furthermore, the camera 24 corresponds to the camera. The HDD 73 of the robot control device 70 corresponds to the memory unit, the CPU 71 corresponds to the control unit, and the robot control device 70 corresponds to the robot control device.

In the method for setting the offset value of the tool T of the robot 20 described above, first, the cross plate P is image-recognized to obtain the first coordinate (X1, Y1) and the rotation amount R1. Next, the first coordinate (X1, Y1) is set as the target position of the control point of the tool T, and the arm 22 is operated to adjust the position and rotation amount of the tip link 36, and the second coordinate (X2, Y2) and rotation amount (rotation adjustment amount) R2 of the control point are obtained. Next, the second coordinate (X2, Y2) is rotated in the direction of returning by the rotation amount R2 around the origin Mo1 obtained from the second coordinate (X2, Y2), the rotation amount R2, and the offset design value, to obtain the third coordinate (X3, Y3) from which the rotation deviation due to the movement of the origin Mo (center of rotation) is removed. Furthermore, the first coordinates (X1, Y1) and the third coordinates (X3, Y3) are rotated around the origin Mo1 in the direction opposite to the rotation amount R1 to correct the first coordinates (X1', Y1') and the third coordinates (X3', Y3') from which the rotational deviation of the cross plate P has been removed. Then, the offset value is set by adding the differences ΔX and ΔY between the first coordinates (X1', Y1') and the third coordinates (X3', Y3') to the offset design value. This makes it possible to remove the rotational deviation of the tool T and set the offset value with high precision. Also, it is possible to remove the influence of the rotational deviation of the cross plate P and set the offset value with high precision.

In addition, the cross plate P has a position mark Mp formed at the center of the cross lines and the projection shape of the outer shape of the tool T formed as a rotation direction mark Mr, so that the position of the control point and the rotation direction of the tool T can be adjusted more appropriately.

In addition, since the offset value can be set using the camera 24 equipped on the robot 20, the offset value can be easily adjusted without preparing measuring instruments, sensors, etc. other than the components of the robot 20.

It goes without saying that the present disclosure is in no way limited to the above-described embodiments, and may be implemented in various forms as long as they fall within the technical scope of the present disclosure.

For example, in the above-described embodiment, the rotational deviation of the cross plate P is removed in S63 of the calculation of the offset value after removing the rotational deviation in FIG. 4, but this is not limited to the above, and S63 may be omitted. For example, in the case where the cross plate P is installed on the work table 11 using a guide jig or the like so as not to cause a rotational deviation, S63 may be omitted. In that case, in S64, the differences ΔX, ΔY between the first coordinate (X1, Y1) and the third coordinate (X3, Y3) may be calculated.

In the embodiment, the camera 24 attached to the arm 22 of the robot 20 is used, but the present invention is not limited to this, and any camera provided in a robot system including the robot 20 may be used, for example, a camera suspended above the robot 20 may be used. Also, a camera other than the camera 24 attached to the robot 20 or the camera provided in the robot system may be used, and a dedicated camera installed when setting the offset value may be used.

In the embodiment, a cross plate P is used on which a circular position mark Mp and a rotation direction mark Mr indicating the projected shape of the tool T are formed, but this is not limited to this. For example, the position mark Mp may be any mark that allows for alignment, and is not limited to being circular. The rotation direction mark Mr may be any mark that allows for rotation direction alignment around the Z axis, and is not limited to being a mark indicating the projected shape of the tool T. In addition, the cross plate P is not limited to being formed with a cross-shaped pattern, and may be any plate on which a position mark Mp and a rotation direction mark Mr are formed.

In the embodiment, the offset value setting method is performed mainly by the robot control device 70, but this is not limited thereto. If an image processing device that processes images from the camera 24 is provided separately from the robot control device 70, the image processing device may be the main device that performs the offset value setting method. Alternatively, the offset value setting method may be performed mainly by a device dedicated to setting offset values.

Here, the offset value setting method and robot control device of the present disclosure may be configured as follows. For example, in the offset value setting method of the present disclosure, the first acquisition step includes image recognition of the plate placed on the work table of the articulated robot to acquire the first coordinates and the rotational deviation amount of the rotation direction mark, and after the third acquisition step, a correction step is included in which the first coordinates and the third coordinates are rotated around the origin position in a direction that eliminates the rotational deviation amount, and the setting step may include calculating the differences in the X direction and the Y direction between the first coordinates and the third coordinates after the correction, and setting the offset value of the tool. In this way, even if there is a rotational deviation in the plate placed on the work table, the effect of the rotational deviation can be removed and the offset value can be set with higher accuracy.

In the offset value setting method disclosed herein, the plate may be configured so that the position mark is formed at the center of the crosshairs and the projection shape of the outer shape of the tool is formed as the rotation direction mark. In this way, the adjustment work can be more appropriately performed when the operator visually adjusts the actual control point position and the rotation direction of the tool.

In the offset value setting method disclosed herein, the robot may include a camera attached to the arm, and the first acquisition step may involve image recognition of an image captured by the camera. In this way, the offset value can be set using the camera provided in the robot, and the offset value can be easily adjusted without preparing measuring instruments, sensors, or the like other than the components of the robot.

The robot control device of the present disclosure includes a storage unit that stores an offset value set by any of the offset value setting methods described above, and a control unit that controls the operation of the arm to which the tool is attached based on the offset value. Since the robot control device of the present disclosure stores the offset value set by the offset value setting method, it can use an offset value that is set with high precision regardless of machining errors or installation errors of the tool. Therefore, the robot control device can improve the working precision of an articulated robot having a tool attached to its arm.

This disclosure can be used in the robot manufacturing industry, etc.

11 work table, 12 work transport device, 20 robot, 22 arm, 24 camera, 28 display operation panel, 31 first link, 32 second link, 33 third link, 34 fourth link, 35 fifth link, 36 tip link (sixth link), 41 first joint, 42 second joint, 43 third joint, 44 fourth joint, 45 fifth joint, 51 to 55 motors, 61 to 65 encoders, 70 robot control device, 71 CPU, 72 ROM, 73 HDD, 73a offset value, 74 RAM, Mp position mark, Mr rotation direction mark, P cross plate, T tool.

Claims (5)

1. A method for setting offset values for a tool attached to a tip of an arm of an articulated robot, the control point of the tool being offset in X and Y directions from an origin of the tip, the method comprising the steps of:
a first acquisition step of acquiring first coordinates indicating the positions of the position marks in the XY directions by performing image recognition on a plate having position marks for aligning the tool in the XY directions and rotation orientation marks for aligning the tool around the Z axis;
an operating step of operating the arm by setting the first coordinates as a target position of a control point of the tool using an offset value in design of the tool, and then adjusting the position and rotation amount of the tip portion so that an actual position of the control point and a rotational orientation of the tool match the position mark and the rotational orientation mark;
a second acquisition step of acquiring second coordinates indicating the position of the control point in the XY direction after the adjustment and an amount of rotation adjustment of the tip portion due to the adjustment;
a third acquisition step of determining an origin position of the tip portion after the adjustment using the second coordinate, the rotation adjustment amount, and the design offset value, and acquiring a third coordinate indicating a position obtained by rotating the second coordinate in a direction returning the tip portion by the rotation adjustment amount around the origin position;
a setting step of calculating differences in an X direction and a Y direction between the first coordinate and the third coordinate, respectively, and adding the differences to the designed offset value to set an offset value of the tool;
A method for setting an offset value, including: 2. The offset value setting method according to claim 1,
In the first acquisition step, the plate placed on a workbench of the articulated robot is image-recognized to acquire the first coordinates and a rotational deviation amount of the rotation direction mark;
a correction step of correcting the first coordinates and the third coordinates by rotating them around the origin position in a direction that eliminates the amount of rotational deviation, after the third acquisition step;
In the setting step, differences in an X direction and a Y direction between the first coordinate and the third coordinate after the correction are calculated, and an offset value of the tool is set. 3. The offset value setting method according to claim 1, further comprising the steps of:
The plate has the position mark formed at the center of the crosshairs and a projection shape of the outer shape of the tool formed as the rotation direction mark. 4. The offset value setting method according to claim 1, further comprising the steps of:
the robot includes a camera attached to the arm;
In the first acquisition step, an image captured by the camera is recognized. A storage unit that stores the offset value set by the offset value setting method according to any one of claims 1 to 4;
a control unit that controls the operation of the arm to which the tool is attached based on the offset value;
A robot control device comprising:

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