Robot control system and robot control method

A robot control method comprising:

• a step of moving a robot hand grasping a component to an imaging range of an imaging unit,
• a step of imaging, by the imaging unit, the component grasped by the robot hand configured to grasp the component, the imaging unit being arranged to be spaced apart from the robot hand;
• a step of calculating, based on an imaging result of the imaged component, a position of the component or an inclination of the component;
• a step of adjusting, based on the calculated position of the component or the inclination of the component, a position or an inclination of the robot hand;
• a step of irradiating laser light to a first reflector installed in the robot hand and a second reflector installed in the imaging unit, receiving laser light reflected by the first reflector and the second reflector, acquiring a 3-dimensional position and an inclination of the first reflector and the second reflector, and detecting a position or inclination of the robot hand and a position or an inclination of the imaging unit by a laser tracker;
• and
• a step of adjusting the position and the inclination of the robot hand, so that the robot hand is inclined with respect to the imaging unit at a predetermined inclination at a fixed imaging position, based on each 3-dimensional position information of the first reflector and the second reflector detected by the laser tracker,
• after the step of adjusting the position and the inclination of the robot hand, a step of acquiring a shift amount of the component with respect to a reference position and a reference inclination of the component, by using a calculation result of the calculation unit based on an imaging result of the component imaged by the imaging unit at the fixed imaging position, and
• a step of moving the component to a member on which the component is to be arranged, with the robot hand whose position and inclination are adjusted based on the acquired shift amount of the component.