Control system and control method

A control system for controlling a robot, the control system comprising:

• a robot controller for driving the robot according to a movement command provided to the robot controller;
• an imaging device for capturing an image of the robot;
• one or more processors;
• and
• one or more memories having instructions stored thereon that, when executed, cause the one or more processors to perform operations comprising:
• performing simulation using a robot model indicating a shape of the robot;
• estimating a position and pose of the imaging device relative to the robot based on the image of the robot captured by the imaging device;
• performing offline teaching to set a teaching point indicative of a position and pose to be taken by the robot, the offline teaching comprising a process of displaying the robot model in a virtual space and setting the teaching point according to user input for causing the robot model to operate in the virtual space;
• generating a simulation image of the robot model captured by a virtual camera arranged in the virtual space, the simulation image including a first simulation image captured by arranging the robot model at the teaching point in the virtual space and arranging the virtual camera so that a position and pose of the virtual camera relative to the robot model coincide with the estimated position and pose providing the robot controller with a first movement command to the teaching point and acquiring a first actual image of the robot captured by the imaging device after the robot has been driven according to the first movement command;
• determining an amount of correction of a position and pose of the robot for the teaching point so that a position and pose of the robot on the first actual image approximates to a position and pose of the robot model on the first simulation image;
• and
• correcting the teaching point based on the amount of correction.