Robot control device and robot system

A robot system comprising:

• a robot;
• an imaging device;
• and
• a robot control device that controls the robot, the robot control device including:
• a memory configured to store a program;
• and
• a processor configured to execute the program so as to:
• cause an imaging device to capture a first image of a target object placed on a work stand so as to obtain first image data of the target object;
• store the first image data into the memory;
• extract a contour of the target object based on the first image data;
• obtain a point cloud of the contour of the target object;
• store the point cloud of the contour of the target object into the memory;
• store a point sequence of the point cloud into the memory;
• determine a correlation between the contour and an imaging device coordinate system of the imaging device;
• store the correlation into the memory;
• cause a robot to operate after the first image data, the point cloud, the point sequence, and the correlation are stored into the memory;
• cause the imaging device to capture a second image of the target placed on the work stand so as to obtain second image data of the target object during the operation of the robot;
• perform pattern matching by comparing between the second image data and the stored contour of the target object to obtain a matched contour of the target object in the second image;
• convert the imaging device coordinate system relating to the point sequence of the matched contour into a robot coordinate system of the robot;
• and
• cause the robot to operate with respect to the target object based on the point sequence of the matched contour under the robot coordinate system.