Robot system for correcting teaching of robot using image processing

A robot system, comprising a robot configured to perform an operation on a workpiece, a robot controller configured to control the robot, and an imaging device configured to capture an image of the workpiece, wherein the robot system is configured to detect features of the workpiece from the captured image and correct teaching of the robot based on detection results, the robot system further comprising:

• a storage unit configured to store, in advance,
• a first feature and a second feature of the workpiece,
• a first positional relationship of a position of the first feature with a target position of the robot, and
• a second positional relationship between the position of the first feature and a position of the second feature,
• a feature detection section configured to detect at least one of the first feature and the second feature from the captured image based on the stored first feature or second feature,
• a feature position calculation section configured to calculate the position of at least one of the detected first feature and second feature, and
• a target position calculation section configured to
• calculate, when the first feature can be detected from the image, the target position of the robot based on the calculated position of the first feature and the stored first positional relationship, and
• calculate, when the first feature cannot be detected from the image and the second feature can be detected from the image, the position of the first feature based on the calculated position of the second feature and the stored second positional relationship, and further calculate the target position of the robot based on the calculated position of the first feature and the stored first positional relationship.