Device for acquiring positional relationship between robot and working machine, control device, system, method, and computer program

A device configured to acquire a positional relationship between a robot and a working machine, the device comprising a processor configured to:

• acquire the positional relationship based on first position data indicating a position and orientation of a hand-tip portion of the robot relative to the robot and second position data indicating a position and orientation of the hand-tip portion relative to the working machine when the hand-tip portion comes into contact with a contact portion at a same predetermined position and orientation relative to the working machine for the first position data and the second position data;
• and
• control the robot and the working machine based on the acquired positional relationship.

A method of acquiring a positional relationship between a robot and a working machine, the method comprising acquiring the positional relationship based on first position data indicating a position and orientation of a hand-tip portion of the robot relative to the robot and second position data indicating a position and orientation of the hand-tip portion relative to the working machine when the hand-tip portion comes into contact with a contact portion at a same predetermined position and orientation relative to the working machine for the first position data and the second position data;

• and
• controlling the robot and the working machine based on the acquired positional relationship.

A computer-readable non-transitory storage medium configured to store a computer program configured to, in order to acquire a positional relationship between a robot coordinate system set for a robot and a working machine coordinate system set for a working machine disposed outside the robot, cause a processor to:

• acquire first position data indicating a position and orientation of a hand-tip portion of the robot relative to the robot coordinate system and second position data indicating a position and orientation of the hand-tip portion relative to the working machine coordinate system, when the hand-tip portion is arranged at a same predetermined position and orientation relative to the working machine for the first position data and the second position data;
• and
• acquire the positional relationship based on the first position data and the second position data, wherein the robot and working machine are controlled based on the acquired positional relationship.