Robot, control device of robot, and method of teaching position of robot

A control device of a robot,

• the robot comprising:
• a robot arm;
• a hand attached to a tip end of the robot arm;
• and
• a camera fixed and attached to a portion of the hand other than a substrate placing portion of the hand so as to take an image of the substrate placing portion, a substrate being placed at the substrate placing portion, wherein
• the robot carries the substrate to a substrate target position at which the substrate is to be placed,
• the control device comprising:
• an image data acquirer configured to acquire image data taken by the camera, the image data including a teaching substrate and the substrate placing portion of the hand, the teaching substrate being arranged as a teaching target at the substrate target position;
• a virtual substrate information generator configured to generate information of a virtual substrate virtually arranged at the substrate placing portion of the hand in the image data of the camera;
• a distance information calculator configured to calculate distance information from the substrate placing portion to the teaching substrate based on the image data of the camera;
• a robot operation control unit configured to control an operation of the robot arm based on the distance information from the substrate placing portion to the teaching substrate such that the virtual substrate coincides with the teaching substrate;
• and
• a storage unit configured to store, as teaching data, a position of the hand when the virtual substrate has coincided with the teaching substrate.

A robot configured to carry a substrate to a substrate target position at which the substrate is to be placed,

• the robot comprising:
• a robot arm;
• a hand attached to a tip end of the robot arm;
• a camera fixed and attached to a portion of the hand other than a substrate placing portion of the hand so as to take an image of the substrate placing portion, the substrate being placed at the substrate placing portion;
• an image data acquirer configured to acquire image data taken by the camera, the image data including a teaching substrate and the substrate placing portion of the hand, the teaching substrate being arranged as a teaching target at the substrate target position;
• a virtual substrate information generator configured to generate information of a virtual substrate virtually arranged at the substrate placing portion of the hand in the image data of the camera;
• a distance information calculator configured to calculate distance information from the substrate placing portion to the teaching substrate based on the image data of the camera;
• an operation control unit configured to control an operation of the robot arm based on the distance information from the substrate placing portion to the teaching substrate such that the virtual substrate coincides with the teaching substrate;
• and
• a storage unit configured to store, as teaching data, a position of the hand when the virtual substrate has coincided with the teaching substrate.